add previous cpp and h for kinetic

include/akp_local_planner_alg_indigo_hydro_kinetic.h

+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author 
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program 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 Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+// 
+// IMPORTANT NOTE: This code has been generated through a script from the 
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _akp_local_planner_alg_h_
+#define _akp_local_planner_alg_h_
+
+#include <iri_robot_aspsi/AkpLocalPlannerConfig.h>
+//#include "mutex.h"
+#include <dirent.h>
+//include akp_local_planner_alg main library
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ *
+ */
+class AkpLocalPlannerAlgorithm
+{
+  protected:
+   /**
+    * \brief define config type
+    *
+    * Define a Config type with the AkpLocalPlannerConfig. All driver implementations
+    * will then use the same variable type Config.
+    */
+    pthread_mutex_t access_;    
+
+    // private attributes and methods
+
+  public:
+   /**
+    * \brief define config type
+    *
+    * Define a Config type with the AkpLocalPlannerConfig. All driver implementations
+    * will then use the same variable type Config.
+    */
+    typedef iri_robot_aspsi::AkpLocalPlannerConfig Config;
+
+   /**
+    * \brief config variable
+    *
+    * This variable has all the driver parameters defined in the cfg config file.
+    * Is updated everytime function config_update() is called.
+    */
+    Config config_;
+
+   /**
+    * \brief constructor
+    *
+    * In this constructor parameters related to the specific driver can be
+    * initalized. Those parameters can be also set in the openDriver() function.
+    * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+    * may be also overload here.
+    */
+    AkpLocalPlannerAlgorithm(void);
+
+   /**
+    * \brief Lock Algorithm
+    *
+    * Locks access to the Algorithm class
+    */
+    void lock(void) { pthread_mutex_lock(&this->access_); };
+
+   /**
+    * \brief Unlock Algorithm
+    *
+    * Unlocks access to the Algorithm class
+    */
+    void unlock(void) { pthread_mutex_unlock(&this->access_); };
+
+   /**
+    * \brief Tries Access to Algorithm
+    *
+    * Tries access to Algorithm
+    * 
+    * \return true if the lock was adquired, false otherwise
+    */
+    bool try_enter(void) 
+    { 
+      if(pthread_mutex_trylock(&this->access_)==0)
+        return true;
+      else
+        return false;
+    };
+
+   /**
+    * \brief config update
+    *
+    * In this function the driver parameters must be updated with the input
+    * config variable. Then the new configuration state will be stored in the 
+    * Config attribute.
+    *
+    * \param new_cfg the new driver configuration state
+    *
+    * \param level level in which the update is taken place
+    */
+    void config_update(Config& new_cfg, uint32_t level=0);
+
+    // here define all akp_local_planner_alg interface methods to retrieve and set
+    // the driver parameters
+
+   /**
+    * \brief Destructor
+    *
+    * This destructor is called when the object is about to be destroyed.
+    *
+    */
+    ~AkpLocalPlannerAlgorithm(void);
+};
+
+#endif

src/akp_local_planner_alg_indigo_hydro_kinetic.cpp

+#include "akp_local_planner_alg.h"
+
+AkpLocalPlannerAlgorithm::AkpLocalPlannerAlgorithm(void)
+{
+  pthread_mutex_init(&this->access_,NULL);
+}
+
+AkpLocalPlannerAlgorithm::~AkpLocalPlannerAlgorithm(void)
+{
+  pthread_mutex_destroy(&this->access_);
+}
+
+void AkpLocalPlannerAlgorithm::config_update(Config& new_cfg, uint32_t level)
+{
+  this->lock();
+
+  // save the current configuration
+  this->config_=new_cfg;
+  
+  this->unlock();
+}
+
+// AkpLocalPlannerAlgorithm Public API