23 #ifndef __PLUGINS_NAO_MOTION_THREAD_H_ 24 #define __PLUGINS_NAO_MOTION_THREAD_H_ 26 #include <core/threading/thread.h> 27 #include <aspect/clock.h> 28 #include <aspect/logging.h> 29 #include <aspect/configurable.h> 30 #include <aspect/blackboard.h> 31 #include <aspect/blocked_timing.h> 32 #include <plugins/nao/aspect/naoqi.h> 41 class HumanoidMotionInterface;
42 class NaoSensorInterface;
60 virtual void finalize();
63 protected:
virtual void run() { Thread::run(); }
67 void process_messages();
70 void goto_body_angles(
float head_yaw,
float head_pitch,
71 float l_shoulder_pitch,
float l_shoulder_roll,
72 float l_elbow_yaw,
float l_elbow_roll,
73 float l_wrist_yaw,
float l_hand,
74 float l_hip_yaw_pitch,
float l_hip_roll,
75 float l_hip_pitch,
float l_knee_pitch,
76 float l_ankle_pitch,
float l_ankle_roll,
77 float r_shoulder_pitch,
float r_shoulder_roll,
78 float r_elbow_yaw,
float r_elbow_roll,
79 float r_wrist_yaw,
float r_hand,
80 float r_hip_yaw_pitch,
float r_hip_roll,
81 float r_hip_pitch,
float r_knee_pitch,
82 float r_ankle_pitch,
float r_ankle_roll,
87 AL::ALPtr<AL::ALMotionProxy> __almotion;
88 AL::ALPtr<AL::ALThreadPool> __thread_pool;
95 AL::ALPtr<AL::ALTask> __motion_task;
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
virtual void run()
Stub to see name in backtrace for easier debugging.
Fawkes library namespace.
Thread class encapsulation of pthreads.
NaoSensorInterface Fawkes BlackBoard Interface.
Thread to provide NaoQi motions to Fawkes.
Thread aspect to use blocked timing.
HumanoidMotionInterface Fawkes BlackBoard Interface.
Thread aspect to log output.
Thread aspect to get access to NaoQi broker.
Thread aspect to access configuration data.