23 #ifndef __PLUGINS_ROBOTINO_ACT_THREAD_H_
24 #define __PLUGINS_ROBOTINO_ACT_THREAD_H_
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/blackboard.h>
36 class JoystickInterface;
55 protected:
virtual void run() { Thread::run(); }
59 void send_transrot(
float vx,
float vy,
float omega);
65 unsigned int cfg_axis_forward_;
66 unsigned int cfg_axis_sideward_;
67 unsigned int cfg_axis_rotation_;
Thread aspect to access to BlackBoard.
JoystickInterface Fawkes BlackBoard Interface.
Fawkes library namespace.
virtual void init()
Initialize the thread.
Thread class encapsulation of pthreads.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
Robotino act hook integration thread.
Thread aspect to log output.
virtual void loop()
Code to execute in the thread.
Thread aspect to access configuration data.
virtual bool prepare_finalize_user()
Prepare finalization user implementation.
MotorInterface Fawkes BlackBoard Interface.
RobotinoJoystickThread()
Constructor.