Fawkes API
Fawkes Development Version
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25 #ifndef _PLUGINS_ROBOTINO_ACT_THREAD_H_
26 #define _PLUGINS_ROBOTINO_ACT_THREAD_H_
28 #include <aspect/blackboard.h>
29 #include <aspect/blocked_timing.h>
30 #include <aspect/clock.h>
31 #include <aspect/configurable.h>
32 #include <aspect/logging.h>
33 #include <core/threading/thread.h>
35 # include <aspect/tf.h>
42 class GripperInterface;
75 typedef enum { ODOM_COPY, ODOM_CALC } OdometryMode;
77 void publish_odometry();
78 void publish_gripper();
83 unsigned int last_seqnum_;
87 unsigned int imu_if_nochange_loops_;
88 bool imu_if_writer_warning_printed_;
89 bool imu_if_invquat_warning_printed_;
90 bool imu_if_changed_warning_printed_;
95 float cfg_deadman_threshold_;
96 float cfg_odom_time_offset_;
97 bool cfg_gripper_enabled_;
98 std::string cfg_odom_frame_;
99 std::string cfg_base_frame_;
100 OdometryMode cfg_odom_mode_;
101 unsigned int cfg_imu_deadman_loops_;
102 float cfg_odom_corr_phi_;
103 float cfg_odom_corr_trans_;
104 bool cfg_bumper_estop_enabled_;
108 float cfg_trans_accel_;
109 float cfg_trans_decel_;
110 float cfg_rot_accel_;
111 float cfg_rot_decel_;
114 bool cfg_publish_transform_;
122 float odom_gyro_origin_;
128 std::string last_transrot_sender_;
RobotinoActThread(RobotinoComThread *com_thread)
Constructor.
IMUInterface Fawkes BlackBoard Interface.
Thread aspect to use blocked timing.
MotorInterface Fawkes BlackBoard Interface.
virtual void once()
Execute an action exactly once.
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
Robotino act hook integration thread.
GripperInterface Fawkes BlackBoard Interface.
Virtual base class for thread that communicates with a Robotino.
A class for handling time.
Thread class encapsulation of pthreads.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access configuration data.
virtual void finalize()
Finalize the thread.
Thread aspect that allows to obtain the current time from the clock.
virtual void loop()
Code to execute in the thread.