Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This distribution is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef HYDROUTIL_CONTEXT_H
00012 #define HYDROUTIL_CONTEXT_H
00013 
00014 #include <string>
00015 #include <hydroutil/properties.h>
00016 #include <gbxsickacfr/gbxutilacfr/tracer.h>
00017 #include <gbxsickacfr/gbxutilacfr/status.h>
00018 #include <hydroportability/sharedlib.h>
00019 
00020 namespace hydroutil
00021 {
00022 
00045 class SOEXPORT Context
00046 {
00047 
00048 public:
00050     Context( const hydroutil::Properties& props, gbxsickacfr::gbxutilacfr::Tracer& tr, gbxsickacfr::gbxutilacfr::Status& st ) :
00051         properties_(props),
00052         tracer_(&tr),
00053         status_(&st) {};
00054 
00056     const hydroutil::Properties&   properties() const { return properties_; };
00058     hydroutil::Properties&   properties() { return properties_; };
00060     gbxsickacfr::gbxutilacfr::Tracer&       tracer() const { return *tracer_; };
00062     gbxsickacfr::gbxutilacfr::Status&       status() const { return *status_; };
00063 
00064 private:
00065     // this is our own copy of properties (they are not shared)
00066     hydroutil::Properties   properties_;
00067     // Tracer and Status objects are shared
00068     // we store pointers but return references.
00069     // it's possible to store references but then a custom copy constructor needs to be defined
00070     // see http://www.dbforums.com/archive/index.php/t-660589.html
00071     gbxsickacfr::gbxutilacfr::Tracer*      tracer_;
00072     gbxsickacfr::gbxutilacfr::Status*      status_;
00073 };
00074 
00075 } // end namespace
00076 
00077 #endif
context.h
