Fawkes API
Fawkes Development Version
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22 #ifndef _PLUGINS_GAZSIM_WEBCAM_THREAD_H_
23 #define _PLUGINS_GAZSIM_WEBCAM_THREAD_H_
25 #include <aspect/blackboard.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/clock.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 #include <fvutils/ipc/shm_image.h>
32 #include <plugins/gazebo/aspect/gazebo.h>
34 #include <boost/circular_buffer.hpp>
38 #include "gazsim_webcam.h"
40 #include <gazebo/msgs/MessageTypes.hh>
41 #include <gazebo/transport/TransportTypes.hh>
42 #include <gazebo/transport/transport.hh>
60 std::vector<GazsimWebcam *> webcams_;
63 std::vector<std::string> shm_ids_;
virtual void init()
Initialize the thread.
Thread aspect to get access to a Gazebo node handle.
WebcamSimThread()
Constructor.
Thread aspect to use blocked timing.
virtual void loop()
Code to execute in the thread.
Thread aspect to access to BlackBoard.
Thread aspect to log output.
Thread simulates a number of webcams in Gazebo.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.
virtual void finalize()
Finalize the thread.
Thread aspect that allows to obtain the current time from the clock.