Revision 414a3516 include/humotion/client/middleware_ros.h

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include/humotion/client/middleware_ros.h
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* Forschungsgemeinschaft (DFG) in the context of the German
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* Excellence Initiative.
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*/
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#include "ros/ros.h"
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namespace humotion{


  		




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namespace client{


  		




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class MiddlewareROS : public Middleware{


  		




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#ifndef ROS_SUPPORT


  		




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public:


  		




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    MiddlewareROS(std::string name) : Middleware(name){


  		




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        printf("> ERROR: humotion was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");


  		




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        exit(EXIT_FAILURE);


  		




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    }


  		




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    ~MiddlewareROS(){}


  		




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    void send_mouth_target(){};


  		




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    void send_gaze_target(){};


  		




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    bool ok(){ return false; }


  		




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    void tick(){}


  		




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#else


  		




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public:


  		




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    MiddlewareROS(std::string name);


  		




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    ~MiddlewareROS();


  		




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    //boost::shared_ptr<ros::NodeHandle> node_handle;


  		




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    ros::Publisher mouth_target_publisher;


  		




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    ros::Publisher gaze_target_publisher;


  		




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#endif


  		




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};


  		




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}


  		












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