Fawkes API
Fawkes Development Version
gazsim_vis_localization_thread.h
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/***************************************************************************
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* gazsim_vis_localization_thread.h - Plugin visualizes the localization
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*
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* Created: Tue Sep 17 15:36:25 2013
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* Copyright 2013 Frederik Zwilling
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_GAZSIM_VIS_LOCALIZATION_THREAD_H_
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#define _PLUGINS_GAZSIM_VIS_LOCALIZATION_THREAD_H_
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#include <aspect/blackboard.h>
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#include <aspect/blocked_timing.h>
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#include <aspect/clock.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <core/threading/thread.h>
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#include <plugins/gazebo/aspect/gazebo.h>
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#include <utils/time/clock.h>
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#include <utils/time/time.h>
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#include <string.h>
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//from Gazebo
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#include <gazebo/msgs/MessageTypes.hh>
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#include <gazebo/transport/TransportTypes.hh>
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#include <gazebo/transport/transport.hh>
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namespace
fawkes
{
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class
Position3DInterface;
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}
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class
VisLocalizationThread
:
public
fawkes::Thread
,
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public
fawkes::ClockAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::BlackBoardAspect
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::GazeboAspect
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{
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public
:
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VisLocalizationThread
();
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virtual
void
init
();
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virtual
void
loop
();
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virtual
void
finalize
();
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private
:
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//read pose interface
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fawkes::Position3DInterface
*pose_if_;
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//Publisher for visual msgs
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gazebo::transport::PublisherPtr visual_publisher_;
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double
update_rate_;
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fawkes::Time
last_update_time_;
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//config values
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std::string robot_name_, label_script_name_, location_scripts_, location_textures_, parent_name_,
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arrow_script_name_;
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float
label_size_;
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float
label_height_;
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};
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#endif
VisLocalizationThread::VisLocalizationThread
VisLocalizationThread()
Constructor.
Definition:
gazsim_vis_localization_thread.cpp:43
fawkes::GazeboAspect
Thread aspect to get access to a Gazebo node handle.
Definition:
gazebo.h:37
fawkes::BlockedTimingAspect
Thread aspect to use blocked timing.
Definition:
blocked_timing.h:51
VisLocalizationThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
gazsim_vis_localization_thread.cpp:75
VisLocalizationThread::init
virtual void init()
Initialize the thread.
Definition:
gazsim_vis_localization_thread.cpp:50
fawkes::BlackBoardAspect
Thread aspect to access to BlackBoard.
Definition:
blackboard.h:34
fawkes
Fawkes library namespace.
fawkes::LoggingAspect
Thread aspect to log output.
Definition:
logging.h:33
fawkes::Time
A class for handling time.
Definition:
time.h:93
VisLocalizationThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
gazsim_vis_localization_thread.cpp:81
fawkes::Thread
Thread class encapsulation of pthreads.
Definition:
thread.h:46
fawkes::Position3DInterface
Position3DInterface Fawkes BlackBoard Interface.
Definition:
Position3DInterface.h:34
fawkes::ConfigurableAspect
Thread aspect to access configuration data.
Definition:
configurable.h:33
fawkes::ClockAspect
Thread aspect that allows to obtain the current time from the clock.
Definition:
clock.h:34
VisLocalizationThread
Thread simulates the Localization in Gazebo.
Definition:
gazsim_vis_localization_thread.h:52
src
plugins
gazebo
gazsim-vis-localization
gazsim_vis_localization_thread.h
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