Fawkes API
Fawkes Development Version
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22 #ifndef _PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
23 #define _PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/pointcloud.h>
30 #include <blackboard/interface_listener.h>
31 #include <blackboard/interface_observer.h>
32 #include <core/threading/thread.h>
33 #include <core/utils/lock_list.h>
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
39 class Laser360Interface;
40 class Laser720Interface;
41 class Laser1080Interface;
65 unsigned int instance_serial)
throw();
67 unsigned int instance_serial)
throw();
71 std::string interface_to_pcl_name(
const char *interface_id);
95 } InterfaceCloudMapping;
100 float sin_angles360[360];
101 float cos_angles360[360];
102 float sin_angles720[720];
103 float cos_angles720[720];
104 float sin_angles1080[1080];
105 float cos_angles1080[1080];
virtual ~LaserPointCloudThread()
Destructor.
RefPtr<> is a reference-counting shared smartpointer.
BlackBoard interface listener.
Thread aspect to use blocked timing.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
virtual void bb_interface_reader_removed(fawkes::Interface *interface, unsigned int instance_serial)
A reading instance has been closed for a watched interface.
virtual void run()
Stub to see name in backtrace for easier debugging.
LaserPointCloudThread()
Constructor.
Thread aspect to access to BlackBoard.
Thread aspect to provide and access point clouds.
Fawkes library namespace.
Thread aspect to log output.
Laser1080Interface Fawkes BlackBoard Interface.
BlackBoard interface observer.
Base class for all Fawkes BlackBoard interfaces.
Thread class encapsulation of pthreads.
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
Laser720Interface Fawkes BlackBoard Interface.
virtual void init()
Initialize the thread.
Thread to exchange transforms between Fawkes and ROS.
Laser360Interface Fawkes BlackBoard Interface.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, unsigned int instance_serial)
A writing instance has been closed for a watched interface.