22 #ifndef __PLUGINS_COLLI_VISUALIZATION_THREAD_H_ 23 #define __PLUGINS_COLLI_VISUALIZATION_THREAD_H_ 25 #ifdef HAVE_VISUAL_DEBUGGING 27 #include "common/types.h" 29 #include <core/threading/thread.h> 30 #include <core/threading/mutex.h> 31 #include <aspect/tf.h> 32 #include <aspect/configurable.h> 33 #include <aspect/logging.h> 34 #include <plugins/ros/aspect/ros.h> 43 class LaserOccupancyGrid;
46 typedef struct point_struct
point_t;
49 class ColliVisualizationThread
57 ColliVisualizationThread();
61 virtual void finalize();
74 ros::Publisher *pub_roboshape_;
76 ros::Publisher *pub_cells_occ_;
77 ros::Publisher *pub_cells_near_;
78 ros::Publisher *pub_cells_mid_;
79 ros::Publisher *pub_cells_far_;
80 ros::Publisher *pub_cells_free_;
81 ros::Publisher *pub_search_path_;
83 std::vector<fawkes::point_t> cells_occ_;
84 std::vector<fawkes::point_t> cells_near_;
85 std::vector<fawkes::point_t> cells_mid_;
86 std::vector<fawkes::point_t> cells_far_;
87 std::vector<fawkes::point_t> cells_free_;
89 std::string frame_base_;
90 std::string frame_laser_;
struct fawkes::point_struct point_t
Point with cartesian coordinates as signed integers.
Thread aspect to get access to a ROS node handle.
This class tries to translate the found plan to interpreteable data for the rest of the program...
Fawkes library namespace.
Thread class encapsulation of pthreads.
Costs of occupancy-grid cells.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
Thread aspect to log output.
Thread aspect to access configuration data.
This class is mainly the same as the basic class with the difference that all data is precalculated o...
Mutex mutual exclusion lock.