23 #ifndef __PLUGINS_COLLI_ACT_THREAD_H_ 24 #define __PLUGINS_COLLI_ACT_THREAD_H_ 26 #include <core/threading/thread.h> 27 #include <aspect/blocked_timing.h> 28 #include <aspect/logging.h> 29 #include <aspect/blackboard.h> 30 #include <aspect/configurable.h> 31 #include <aspect/tf.h> 33 #include <interfaces/NavigatorInterface.h> 43 class NavigatorInterface;
62 virtual void finalize();
70 ros::Subscriber* sub_;
72 std::string cfg_iface_navi_;
74 std::string cfg_frame_odom_;
77 float cfg_security_distance_;
78 float cfg_max_velocity_;
79 float cfg_max_rotation_;
80 float cfg_escaping_enabled_;
81 bool cfg_stop_at_target_;
88 void colli_relgoto(
float x,
float y,
float ori);
89 void colli_goto(
float x,
float y,
float ori);
Thread aspect to access to BlackBoard.
Fawkes library namespace.
OrientationMode
Orientation mode enum.
Thread class encapsulation of pthreads.
This thread hooks onto Fawkes main loop at the ACT hook.
Thread aspect to use blocked timing.
Thread that performs the navigation and collision avoidance algorithms.
Thread aspect to log output.
Thread aspect to access configuration data.
DriveMode
Drive modes enum.
NavigatorInterface Fawkes BlackBoard Interface.