Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_NAO_MOTION_THREAD_H_
24 #define _PLUGINS_NAO_MOTION_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/clock.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <core/threading/thread.h>
32 #include <plugins/nao/aspect/naoqi.h>
41 class HumanoidMotionInterface;
42 class NaoSensorInterface;
71 void process_messages();
74 void goto_body_angles(
float head_yaw,
76 float l_shoulder_pitch,
77 float l_shoulder_roll,
82 float l_hip_yaw_pitch,
88 float r_shoulder_pitch,
89 float r_shoulder_roll,
94 float r_hip_yaw_pitch,
103 AL::ALPtr<AL::ALMotionProxy> almotion_;
104 AL::ALPtr<AL::ALThreadPool> thread_pool_;
111 AL::ALPtr<AL::ALTask> motion_task_;
NaoQiMotionThread()
Constructor.
NaoSensorInterface Fawkes BlackBoard Interface.
Thread to provide NaoQi motions to Fawkes.
Thread aspect to get access to NaoQi broker.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
Thread aspect to access to BlackBoard.
HumanoidMotionInterface Fawkes BlackBoard Interface.
Fawkes library namespace.
Thread aspect to log output.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect that allows to obtain the current time from the clock.
virtual ~NaoQiMotionThread()
Destructor.