tk_obstacle: ConstantPoints.cpp Source File

Go to the documentation of this file.
00001 /*
00002  * ConstantPoints.cpp
00003  *
00004  *  Created on: Dec 16, 2011
00005  *      Author: mriedel
00006  */
00007 
00008 #include <obs_providers/ConstantPoints.hpp>
00009 
00010 // Declare
00011 PLUGINLIB_DECLARE_CLASS(tk_obstacle, ConstantPoints, telekyb_obs::ConstantPoints, TELEKYB_NAMESPACE::ObstacleProvider);
00012 
00013 namespace telekyb_obs {
00014 
00015 ConstantPointsOptions::ConstantPointsOptions()
00016         : OptionContainer("ConstantPoints")
00017 {
00018         tConstantObstaclePoints = addOption< std::vector<Position3D> >("tConstantObstaclePoints",
00019                         "List of constant ObstaclePoints", std::vector<Position3D>(), false, false);
00020 }
00021 
00022 
00023 ConstantPoints::ConstantPoints()
00024         : ObstacleProvider("tk_obstacle/ConstantPoints")
00025 {
00026 
00027 }
00028 
00029 ConstantPoints::~ConstantPoints()
00030 {
00031 
00032 }
00033 
00034 
00035 // called directly after Creation
00036 void ConstantPoints::initialize()
00037 {
00038 
00039 }
00040 
00041 // called right before destruction
00042 void ConstantPoints::destroy()
00043 {
00044 
00045 }
00046 
00047 
00048 void ConstantPoints::getObstaclePoints(const TKState& lastState, std::vector<Position3D>& obstaclePoints) const
00049 {
00050         std::vector<Position3D> pointVector = options.tConstantObstaclePoints->getValue();
00051         std::copy(pointVector.begin(), pointVector.end(), std::back_inserter(obstaclePoints));
00052 }
00053 
00054 } /* namespace telekyb_obs */