Quadrotor

/* This file is part of RGBDSLAM.

 * 

 * RGBDSLAM is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 of the License, or

 * (at your option) any later version.

 * 

 * RGBDSLAM is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 * 

 * You should have received a copy of the GNU General Public License

 * along with RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.

 */

//!Sets up a thread for ROS event processing

/** 

 * QtThread based class encapsulating the ros basics,

 * i.e., init, node handle creation, spining and quitting.

 * To quit via qt, connect the quitNow slot to, e.g., 

 * the aboutToQuit-Signal of qapplication.

 */

#ifndef QT_ROS_H

#define QT_ROS_H

#include "ros/ros.h"

#include <QThread>

#include <QObject>

class QtROS : public QThread {

  Q_OBJECT

  public:

    ///Note: The constructor will block until connected with roscore

    ///Instead of ros::spin(), start this thread with the start() method

    ///to run the event loop of ros

    QtROS(int argc, char *argv[], const char* node_name);

    ros::NodeHandle getNodeHandle(){ return *n; }

    //! This method contains the ROS event loop. Feel free to modify 

    void run();

  public Q_SLOTS:

    //!Connect to aboutToQuit signals, to stop the thread

    void quitNow();

  Q_SIGNALS:

    //!Triggered if ros::ok() != true

    void rosQuits();

  private:

    bool quitfromgui;

    ros::NodeHandle* n;

};

#endif