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>
31 #include <aspect/clock.h>
33 # include <aspect/tf.h>
72 protected:
virtual void run() { Thread::run(); }
76 rec::robotino::com::Com *com_;
77 rec::robotino::com::OmniDrive *omni_drive_;
78 unsigned int last_seqnum_;
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
Fawkes library namespace.
Thread class encapsulation of pthreads.
RobotinoActThread(RobotinoSensorThread *sensor_thread)
Constructor.
Thread aspect to use blocked timing.
Robotino act hook integration thread.
Thread aspect to log output.
Robotino sensor hook integration thread.
virtual void init()
Initialize the thread.
Thread aspect to access configuration data.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
MotorInterface Fawkes BlackBoard Interface.