Fawkes API Fawkes Development Version
ir_pcl_thread.h
1
2/***************************************************************************
3 * ir_pcl_thread.h - Robotino IR point cloud thread
4 *
5 * Created: Mon Mar 26 14:05:08 2012
6 * Copyright 2011-2012 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_ROBOTINO_IR_PCL_THREAD_H_
24#define _PLUGINS_ROBOTINO_IR_PCL_THREAD_H_
25
26#include <aspect/blackboard.h>
27#include <aspect/blocked_timing.h>
28#include <aspect/configurable.h>
29#include <aspect/logging.h>
30#include <aspect/pointcloud.h>
31#include <core/threading/thread.h>
32#include <pcl/point_cloud.h>
33#include <pcl/point_types.h>
34#include <pcl_utils/utils.h>
35
36namespace fawkes {
37class RobotinoSensorInterface;
38}
39
46{
47public:
49
50 virtual void init();
51 virtual void loop();
52 virtual void finalize();
53
54 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
55protected:
56 virtual void
58 {
59 Thread::run();
60 }
61
62private: // members
64
66
67 float *angle_sines_;
68 float *angle_cosines_;
69};
70
71#endif
Robotino IR distances as point cloud.
Definition: ir_pcl_thread.h:46
virtual void init()
Initialize the thread.
RobotinoIrPclThread()
Constructor.
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: ir_pcl_thread.h:57
virtual void finalize()
Finalize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:38
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:50
RobotinoSensorInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.