00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Institute for Artificial Intelligence, 00005 * Universität Bremen. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Institute for Artificial Intelligence, 00019 * Universität Bremen, nor the names of its contributors may be 00020 * used to endorse or promote products derived from this software 00021 * without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 *********************************************************************/ 00036 00040 #ifndef __PLUGIN_GAZEBO_H__ 00041 #define __PLUGIN_GAZEBO_H__ 00042 00043 00044 #define PLUGIN_CLASS PluginGazebo 00045 00046 00047 // System 00048 #include <cstdlib> 00049 #include <iostream> 00050 00051 // ROS 00052 #include <ros/ros.h> 00053 00054 // Designators 00055 #include <designators/CDesignator.h> 00056 #include <designator_integration_msgs/DesignatorCommunication.h> 00057 00058 // Private 00059 #include <Types.h> 00060 #include <ForwardDeclarations.h> 00061 #include <Plugin.h> 00062 00063 00064 namespace beliefstate { 00065 namespace plugins { 00066 class PLUGIN_CLASS : public Plugin { 00067 private: 00068 public: 00069 PLUGIN_CLASS(); 00070 ~PLUGIN_CLASS(); 00071 00072 virtual Result init(int argc, char** argv); 00073 virtual Result deinit(); 00074 00075 virtual Result cycle(); 00076 00077 virtual void consumeEvent(Event evEvent); 00078 virtual Event consumeServiceEvent(ServiceEvent seServiceEvent); 00079 00080 bool serviceCallbackTest(designator_integration_msgs::DesignatorCommunication::Request &req, designator_integration_msgs::DesignatorCommunication::Response &res); 00081 }; 00082 } 00083 00084 extern "C" plugins::PLUGIN_CLASS* createInstance(); 00085 extern "C" void destroyInstance(plugins::PLUGIN_CLASS* icDestroy); 00086 } 00087 00088 00089 #endif /* __PLUGIN_GAZEBO_H__ */