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