buffer_server_main.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
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 Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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00034 *
00035 * Author: Wim Meeussen
00036 *********************************************************************/
00037 #include <tf2_ros/buffer_server.h>
00038 #include <tf2_ros/transform_listener.h>
00039 #include <ros/ros.h>
00040 
00041 
00042 class MyClass
00043 {
00044 public:
00045   MyClass() {}
00046   MyClass(double d) {}
00047 };
00048 
00049 class BlankClass
00050 {
00051 public:
00052   BlankClass() {}
00053 };
00054 
00055 int main(int argc, char** argv)
00056 {
00057   ros::init(argc, argv, "tf_buffer");
00058   ros::NodeHandle nh;  
00059 
00060   double buffer_size;
00061   nh.param("buffer_size", buffer_size, 120.0);
00062 
00063   // WIM: this works fine:
00064   tf2::Buffer buffer_core(ros::Duration(buffer_size+0)); // WTF??
00065   tf2::TransformListener listener(buffer_core);
00066   tf2::BufferServer buffer_server(buffer_core, "tf2_buffer_server");
00067   // But you should probably read this instead:
00068   // http://www.informit.com/guides/content.aspx?g=cplusplus&seqNum=439
00069 
00070   ros::spin();
00071 }
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tf2_ros
Author(s): Wim Meeussen, Eitan Marder-Eppstein
autogenerated on Mon Aug 19 2013 10:27:02