Fawkes API  Fawkes Development Version
tf_example_thread.h
1 
2 /***************************************************************************
3  * tf_example_thread.h - tf example thread
4  *
5  * Created: Tue Oct 25 17:59:56 2011
6  * Copyright 2011 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef __PLUGINS_TF_EXAMPLE_TF_EXAMPLE_THREAD_H_
23 #define __PLUGINS_TF_EXAMPLE_TF_EXAMPLE_THREAD_H_
24 
25 #include <core/threading/thread.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/logging.h>
28 #include <aspect/configurable.h>
29 #include <aspect/blackboard.h>
30 #include <aspect/tf.h>
31 
32 namespace fawkes {
33  namespace tf {
34  class TransformListener;
35  }
36 }
37 
39 : public fawkes::Thread,
41  public fawkes::LoggingAspect,
45 {
46  public:
48  virtual ~TfExampleThread();
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() */
55  protected: virtual void run() { Thread::run(); }
56 
57  private:
58  float angle_;
59 };
60 
61 #endif
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
virtual void run()
Stub to see name in backtrace for easier debugging.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Definition: thread.cpp:939
Thread class encapsulation of pthreads.
Definition: thread.h:42
Thread aspect to access the transform system.
Definition: tf.h:42
Thread aspect to use blocked timing.
Thread aspect to log output.
Definition: logging.h:35
Thread aspect to access configuration data.
Definition: configurable.h:35
Main thread of tf example plugin.