init.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef ROSCPP_INIT_H
#define ROSCPP_INIT_H
 
#include "ros/forwards.h"
#include "ros/spinner.h"
#include "common.h"
 
namespace ros
{
 
namespace init_options
{
enum InitOption
{
  NoSigintHandler = 1 << 0,
  AnonymousName = 1 << 1,
  NoRosout = 1 << 2,
  NoSimTime = 1 << 3,
};
}
typedef init_options::InitOption InitOption;
 
ROSCPP_DECL void init(int &argc, char **argv, const std::string& name, uint32_t options = 0);
 
ROSCPP_DECL void init(const M_string& remappings, const std::string& name, uint32_t options = 0);
 
ROSCPP_DECL void init(const VP_string& remapping_args, const std::string& name, uint32_t options = 0);
 
ROSCPP_DECL bool isInitialized();
ROSCPP_DECL bool isShuttingDown();
 
ROSCPP_DECL void spin();
 
ROSCPP_DECL void spin(Spinner& spinner);
ROSCPP_DECL void spinOnce();
 
ROSCPP_DECL void waitForShutdown();
 
ROSCPP_DECL bool ok();
ROSCPP_DECL void shutdown();
 
ROSCPP_DECL void requestShutdown();
 
ROSCPP_DECL void start();
ROSCPP_DECL bool isStarted();
 
ROSCPP_DECL CallbackQueue* getGlobalCallbackQueue();
 
ROSCPP_DECL std::string getROSArg(int argc, const char* const* argv, const std::string& arg);
 
ROSCPP_DECL void removeROSArgs(int argc, const char* const* argv, V_string& args_out);
 
ROSCPP_DECL const std::string& getDefaultMasterURI();
 
}
 
#endif