image_flip_nodelet.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 

//##################
//#### includes ####

// ROS includes
#include <ros/ros.h>
#include <nodelet/nodelet.h>

// image flip code
#include <cob_image_flip/image_flip.h>

// this should really be in the implementation (.cpp file)
#include <pluginlib/class_list_macros.h>

namespace cob_image_flip
{
class ImageFlipNodelet : public nodelet::Nodelet
{
protected:
        ros::NodeHandle node_handle_;
        ImageFlip* image_flip_;

public:

        ImageFlipNodelet()
        {
                image_flip_ = 0;
        };

        ~ImageFlipNodelet()
        {
                if (image_flip_ != 0)
                        delete image_flip_;
        };

        virtual void onInit()
        {
                // Create a handle for this node, initialize node
                node_handle_ = getPrivateNodeHandle();

                // Create ImageFlip class instance
                image_flip_ = new ImageFlip(node_handle_);
        }
};
}

// watch the capitalization carefully
PLUGINLIB_EXPORT_CLASS(cob_image_flip::ImageFlipNodelet, nodelet::Nodelet)