Fawkes API  Fawkes Development Version
pcl_db_merge_thread.h
1 
2 /***************************************************************************
3  * pcl_db_merge_thread.h - Restore and merge point clouds from MongoDB
4  *
5  * Created: Wed Nov 28 10:53:14 2012 (Freiburg)
6  * Copyright 2012 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_
24 
25 #include "pcl_db_merge_pipeline.h"
26 
27 #include <aspect/blackboard.h>
28 #include <aspect/clock.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <aspect/pointcloud.h>
32 #include <aspect/tf.h>
33 #include <core/threading/thread.h>
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
36 #include <plugins/mongodb/aspect/mongodb.h>
37 
38 namespace fawkes {
39 class PclDatabaseMergeInterface;
40 class BlackBoardOnMessageWaker;
41 #ifdef USE_TIMETRACKER
42 class TimeTracker;
43 #endif
44 } // namespace fawkes
45 
47  public fawkes::ClockAspect,
48  public fawkes::LoggingAspect,
51  public fawkes::MongoDBAspect,
54 {
55 public:
57  virtual ~PointCloudDBMergeThread();
58 
59  virtual void init();
60  virtual void loop();
61  virtual void finalize();
62 
63  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
64 protected:
65  virtual void
66  run()
67  {
68  Thread::run();
69  }
70 
71 private: // members
72  fawkes::PclDatabaseMergeInterface *merge_if_;
74 
77 
78  std::string cfg_database_;
79  std::string cfg_output_id_;
80 
83 };
84 
85 #endif
fawkes::MongoDBAspect
Definition: mongodb.h:43
PointCloudDBMergeThread::init
virtual void init()
Initialize the thread.
Definition: pcl_db_merge_thread.cpp:46
PointCloudDBMergeThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: pcl_db_merge_thread.h:66
PointCloudDBMergeThread
Definition: pcl_db_merge_thread.h:46
fawkes::RefPtr
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:57
PointCloudDBMergeThread::finalize
virtual void finalize()
Finalize the thread.
Definition: pcl_db_merge_thread.cpp:79
PointCloudDBMergeThread::~PointCloudDBMergeThread
virtual ~PointCloudDBMergeThread()
Destructor.
Definition: pcl_db_merge_thread.cpp:41
PointCloudDBMergePipeline< pcl::PointXYZ >
fawkes::BlackBoardAspect
Definition: blackboard.h:38
fawkes::PointCloudAspect
Definition: pointcloud.h:37
fawkes
fawkes::LoggingAspect
Definition: logging.h:38
fawkes::TransformAspect
Definition: tf.h:43
pcl::PointCloud
Definition: pointcloud.h:38
PointCloudDBMergeThread::PointCloudDBMergeThread
PointCloudDBMergeThread()
Constructor.
Definition: pcl_db_merge_thread.cpp:35
fawkes::Thread
Definition: thread.h:45
fawkes::BlackBoardOnMessageWaker
Definition: on_message_waker.h:41
fawkes::ConfigurableAspect
Definition: configurable.h:38
PointCloudDBMergeThread::loop
virtual void loop()
Code to execute in the thread.
Definition: pcl_db_merge_thread.cpp:93
fawkes::ClockAspect
Definition: clock.h:40