00001
00002 /***************************************************************************
00003  *  laser_plugin.cpp - Fawkes Laser Plugin
00004  *
00005  *  Created: Tue Aug 05 13:11:02 2008
00006  *  Copyright  2006-2009  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022
00023 #include <plugins/laser/laser_plugin.h>
00024
00025 #include "sensor_thread.h"
00026 #include "lase_edl_aqt.h"
00027
00028 using namespace fawkes;
00029 
00030 /** @class LaserPlugin "laser_plugin.h"
00031  * Laser plugin for Fawkes.
00032  * This plugin integrates Fawkes with Laser, for example for accessing
00033  * a simulator.
00034  * @author Tim Niemueller
00035  */
00036 
00037 /** Constructor.
00038  * @param config Fawkes configuration
00039  */
00040 LaserPlugin::LaserPlugin(Configuration *config)
00041   : Plugin(config)
00042 {
00043   LaseEdlAcquisitionThread *aqt = new LaseEdlAcquisitionThread();
00044   thread_list.push_back(new LaserSensorThread(aqt));
00045   thread_list.push_back(aqt);
00046 }
00047
00048
00049 PLUGIN_DESCRIPTION("Reads data from laser range finder and writes to BlackBoard")
00050 EXPORT_PLUGIN(LaserPlugin)