void TopoSegBuilderComponent::start()
{
println("************************************************************");
println("******* TopoSegBuilderComponent ROS CAST Component *********");
println("******************* Status: starting ***********************");
println("************************************************************");
char* argv[] = {};
int argc = sizeof (argv) / sizeof (char *);
println("******************** ROS init() ****************************");
ros::init(argc, argv, "TopoSegBuilderComponent");
client = new TopoSegClient("toposeg_control",true);
println("***************** Initializing filters *********************");
addChangeFilter(createLocalTypeFilter<TogoGraphBuilderAction>(ADD),new MemberFunctionChangeReceiver<TopoSegBuilderComponent>(this,&TopoSegBuilderComponent::topoSegActionReceived));
}
void ChameleonComponent::setFilters(){
addChangeFilter(cast::createLocalTypeFilter<chameleon::RecogniseThis>(cast::cdl::OVERWRITE), new cast::MemberFunctionChangeReceiver<ChameleonComponent>(this, &ChameleonComponent::recognised));
addChangeFilter(cast::createLocalTypeFilter<chameleon::LearnThis>(cast::cdl::DELETE), new cast::MemberFunctionChangeReceiver<ChameleonComponent>(this, &ChameleonComponent::learned));
};
