init.cpp
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #include <rosmatlab/init.h>
00030 #include <rosmatlab/exception.h>
00031 
00032 namespace rosmatlab {
00033 
00034   ros::NodeHandle *node_handle_ = 0;
00035   ros::AsyncSpinner *spinner_ = 0;
00036 
00037   void init()
00038   {
00039     if (!ros::isInitialized()) {
00040       int argc = 0;
00041       char **argv = 0;
00042       ros::init(argc, argv, "matlab", ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
00043     }
00044 
00045     if (!node_handle_) {
00046       node_handle_ = new ros::NodeHandle();
00047     }
00048 
00049     if (!spinner_) {
00050       spinner_ = new ros::AsyncSpinner(1);
00051       spinner_->start();
00052     }
00053   }
00054 
00055   void shutdown() {
00056     delete node_handle_;
00057     node_handle_ = 0;
00058     delete spinner_;
00059     spinner_ = 0;
00060     ros::shutdown();
00061   }
00062 
00063   ros::NodeHandle &nodeHandle() {
00064     if (!node_handle_) throw Exception("rosmatlab is not initalized");
00065     return *node_handle_;
00066   }
00067 
00068 } // namespace rosmatlab
00069 
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rosmatlab
Author(s): Johannes Meyer
autogenerated on Tue Jan 8 2013 17:31:00