58 #ifndef __PLUGINS_ROBOTSTATEPUBLISHER_ROBOTSTATEPUBLISHER_THREAD_H_ 59 #define __PLUGINS_ROBOTSTATEPUBLISHER_ROBOTSTATEPUBLISHER_THREAD_H_ 61 #include <core/threading/thread.h> 62 #include <aspect/logging.h> 63 #include <aspect/blocked_timing.h> 64 #include <aspect/clock.h> 65 #include <aspect/tf.h> 66 #include <aspect/configurable.h> 67 #include <aspect/blackboard.h> 68 #include <blackboard/interface_listener.h> 69 #include <blackboard/interface_observer.h> 71 #include <interfaces/JointInterface.h> 73 #include <kdl/kdl.hpp> 74 #include <kdl/frames.hpp> 75 #include <kdl/segment.hpp> 76 #include <kdl/tree.hpp> 92 SegmentPair(
const KDL::Segment& p_segment,
const std::string& p_root,
const std::string& p_tip):
119 virtual void finalize();
122 virtual void bb_interface_created(
const char *type,
const char *
id)
throw();
127 unsigned int instance_serial)
throw();
129 unsigned int instance_serial)
throw();
132 void publish_fixed_transforms();
134 void add_children(
const KDL::SegmentMap::const_iterator
segment);
135 void transform_kdl_to_tf(
const KDL::Frame &k, fawkes::tf::Transform &t);
136 bool joint_is_in_model(
const char *
id);
141 std::map<std::string, SegmentPair> segments_, segments_fixed_;
143 std::string cfg_urdf_path_;
144 float cfg_postdate_to_future_;
146 std::list<fawkes::JointInterface *> ifs_;
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
SegmentPair(const KDL::Segment &p_segment, const std::string &p_root, const std::string &p_tip)
Constructor.
KDL::Segment segment
The segment of the joint pair.
This class represents the segment between a parent and a child joint.
Thread class encapsulation of pthreads.
Base class for all Fawkes BlackBoard interfaces.
Thread aspect to use blocked timing.
Thread aspect to log output.
Thread to publish the robot's transforms.
BlackBoard interface observer.
Thread aspect to access configuration data.
std::string tip
The name of the child joint.
std::string root
The name of the parent joint.
BlackBoard interface listener.