Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_COLLI_ACT_THREAD_H_
24 #define _PLUGINS_COLLI_ACT_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <aspect/tf.h>
31 #include <core/threading/thread.h>
32 #include <interfaces/NavigatorInterface.h>
41 class NavigatorInterface;
66 ros::Subscriber *sub_;
68 std::string cfg_iface_navi_;
70 std::string cfg_frame_odom_;
73 float cfg_security_distance_;
74 float cfg_max_velocity_;
75 float cfg_max_rotation_;
76 float cfg_escaping_enabled_;
77 bool cfg_stop_at_target_;
84 void colli_relgoto(
float x,
float y,
float ori);
85 void colli_goto(
float x,
float y,
float ori);
Thread aspect to use blocked timing.
Thread that performs the navigation and collision avoidance algorithms.
DriveMode
Drive modes enum.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
virtual void loop()
Code to execute in the thread.
OrientationMode
Orientation mode enum.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.
This thread hooks onto Fawkes main loop at the ACT hook.
virtual void finalize()
Finalize the thread.
virtual ~ColliActThread()
Desctructor.
NavigatorInterface Fawkes BlackBoard Interface.
ColliActThread(ColliThread *colli_thread)
Constructor.
virtual void init()
Initialize the thread.