00001 /******************************************************************************* 00002 * TalkingHead - A talking head for robots 00003 * Copyright (C) 2012 AG Aktives Sehen <agas@uni-koblenz.de> 00004 * Universitaet Koblenz-Landau 00005 * 00006 * This program is free software: you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation, either version 3 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00014 * Library General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU Library General Public 00017 * License along with this library; if not, write to the Free Software 00018 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, 00019 * MA 02110-1301 USA or see <http://www.gnu.org/licenses/>. 00020 *******************************************************************************/ 00021 00022 #ifndef TALKING_HEAD_INCLUDE_QTROSNODE_H_ 00023 #define TALKING_HEAD_INCLUDE_QTROSNODE_H_ 00024 00025 #include <QApplication> 00026 #include <QObject> 00027 #include <QThread> 00028 00029 #include <ros/ros.h> 00030 00031 class MainWindow; 00032 00039 class QtRosNode : public QThread { 00040 00041 Q_OBJECT 00042 00043 public: 00047 QtRosNode(int argc, char *argv[], const char* node_name, MainWindow* main_window, QApplication* app); 00048 00049 ros::NodeHandle* getNodeHandle(){ return node_handle_; } 00050 00052 void run(); 00053 00054 public slots: 00056 void quitNow(); 00057 00058 signals: 00060 void rosQuits(); 00061 00062 private: 00063 00064 bool quit_from_gui; 00065 ros::NodeHandle* node_handle_; 00066 00067 MainWindow* main_window_; 00068 QApplication* application_; 00069 }; 00070 00071 #endif // TALKING_HEAD_INCLUDE_QTROSNODE_H_