root / rgbdslam / src / qtros.h @ 9240aaa3
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/* This file is part of RGBDSLAM.
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*
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* RGBDSLAM is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RGBDSLAM is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
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*/
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//!Sets up a thread for ROS event processing
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/**
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* QtThread based class encapsulating the ros basics,
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* i.e., init, node handle creation, spining and quitting.
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* To quit via qt, connect the quitNow slot to, e.g.,
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* the aboutToQuit-Signal of qapplication.
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*/
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#ifndef QT_ROS_H
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#define QT_ROS_H
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#include "ros/ros.h" |
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#include <QThread> |
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#include <QObject> |
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class QtROS : public QThread { |
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Q_OBJECT |
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public: |
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///Note: The constructor will block until connected with roscore
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///Instead of ros::spin(), start this thread with the start() method
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///to run the event loop of ros
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QtROS(int argc, char *argv[], const char* node_name); |
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ros::NodeHandle getNodeHandle(){ return *n; }
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//! This method contains the ROS event loop. Feel free to modify
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void run();
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public Q_SLOTS: |
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//!Connect to aboutToQuit signals, to stop the thread
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void quitNow();
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Q_SIGNALS:
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//!Triggered if ros::ok() != true
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void rosQuits();
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private:
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bool quitfromgui;
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ros::NodeHandle* n; |
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}; |
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#endif
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