22 #ifndef __PLUGINS_CLIPS_TF_CLIPS_TF_THREAD_H_ 23 #define __PLUGINS_CLIPS_TF_CLIPS_TF_THREAD_H_ 25 #include <core/threading/thread.h> 26 #include <aspect/logging.h> 27 #include <aspect/configurable.h> 28 #include <plugins/clips/aspect/clips_feature.h> 29 #include <aspect/tf.h> 55 protected:
virtual void run() { Thread::run(); }
58 bool validate_time(
const CLIPS::Values &time);
60 bool validate_point(
const CLIPS::Values &point);
61 bool validate_vector3(
const CLIPS::Values &vector3);
62 bool validate_quat(
const CLIPS::Values &quat);
64 CLIPS::Values clips_tf_quat_from_yaw(
double yaw);
65 double clips_tf_yaw_from_quat(CLIPS::Values quat);
67 CLIPS::Value clips_tf_frame_exists(std::string frame_id);
68 CLIPS::Value clips_tf_can_transform(std::string target_frame, std::string source_frame,
70 CLIPS::Values clips_tf_transform_point(std::string target_frame, std::string source_frame,
71 CLIPS::Values time, CLIPS::Values point);
72 CLIPS::Values clips_tf_transform_vector(std::string target_frame, std::string source_frame,
73 CLIPS::Values time, CLIPS::Values vector);
74 CLIPS::Values clips_tf_transform_quaternion(std::string target_frame,
75 std::string source_frame,
76 CLIPS::Values time, CLIPS::Values quat);
78 CLIPS::Values clips_tf_transform_pose(std::string target_frame, std::string source_frame,
80 CLIPS::Values translation,
81 CLIPS::Values rotation_quat);
84 std::map<std::string, fawkes::LockPtr<CLIPS::Environment> > envs_;
Thread aspect to provide a feature to CLIPS environments.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
ClipsTFThread()
Constructor.
A class for handling time.
Thread class encapsulation of pthreads.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void clips_context_init(const std::string &env_name, fawkes::LockPtr< CLIPS::Environment > &clips)
Initialize a CLIPS context to use the provided feature.
CLIPS feature maintainer.
Thread aspect to log output.
Provide protobuf functionality to CLIPS environment.
Thread aspect to access configuration data.
virtual void finalize()
Finalize the thread.
virtual void clips_context_destroyed(const std::string &env_name)
Notification that a CLIPS environment has been destroyed.
virtual ~ClipsTFThread()
Destructor.