24 #ifndef __PLUGINS_ROBOTINO_ACT_THREAD_H_ 25 #define __PLUGINS_ROBOTINO_ACT_THREAD_H_ 27 #include <core/threading/thread.h> 28 #include <aspect/blocked_timing.h> 29 #include <aspect/logging.h> 30 #include <aspect/configurable.h> 31 #include <aspect/blackboard.h> 32 #include <aspect/clock.h> 34 # include <aspect/tf.h> 41 class GripperInterface;
64 virtual void finalize();
75 void publish_odometry();
76 void publish_gripper();
81 unsigned int last_seqnum_;
85 unsigned int imu_if_nochange_loops_;
86 bool imu_if_writer_warning_printed_;
87 bool imu_if_invquat_warning_printed_;
88 bool imu_if_changed_warning_printed_;
93 float cfg_deadman_threshold_;
94 float cfg_odom_time_offset_;
95 bool cfg_gripper_enabled_;
96 std::string cfg_odom_frame_;
97 std::string cfg_base_frame_;
98 OdometryMode cfg_odom_mode_;
99 unsigned int cfg_imu_deadman_loops_;
100 float cfg_odom_corr_phi_;
101 float cfg_odom_corr_trans_;
102 bool cfg_bumper_estop_enabled_;
106 float cfg_trans_accel_;
107 float cfg_trans_decel_;
108 float cfg_rot_accel_;
109 float cfg_rot_decel_;
116 float odom_gyro_origin_;
122 std::string last_transrot_sender_;
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
A class for handling time.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
Robotino act hook integration thread.
Virtual base class for thread that communicates with a Robotino.
Thread aspect to log output.
Thread aspect to access configuration data.
IMUInterface Fawkes BlackBoard Interface.
MotorInterface Fawkes BlackBoard Interface.
GripperInterface Fawkes BlackBoard Interface.