Fawkes API
Fawkes Development Version
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22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_
25 #include "pcl_db_merge_pipeline.h"
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>
39 class PclDatabaseMergeInterface;
40 class BlackBoardOnMessageWaker;
41 #ifdef USE_TIMETRACKER
72 fawkes::PclDatabaseMergeInterface *merge_if_;
78 std::string cfg_database_;
79 std::string cfg_output_id_;
Thread aspect to access MongoDB.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread to merge point clouds from database on request.
RefPtr<> is a reference-counting shared smartpointer.
virtual void finalize()
Finalize the thread.
virtual ~PointCloudDBMergeThread()
Destructor.
Thread aspect to access to BlackBoard.
Thread aspect to provide and access point clouds.
Fawkes library namespace.
Thread aspect to log output.
PointCloudDBMergeThread()
Constructor.
Thread class encapsulation of pthreads.
Wake threads on receiving a blackboard message.
Thread aspect to access configuration data.
virtual void loop()
Code to execute in the thread.
Thread aspect that allows to obtain the current time from the clock.