Fawkes API  Fawkes Development Version
ir_pcl_thread.h
1 
2 /***************************************************************************
3  * ir_pcl_thread.h - Robotino IR point cloud thread
4  *
5  * Created: Mon Mar 26 14:05:08 2012
6  * Copyright 2011-2012 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_ROBOTINO_IR_PCL_THREAD_H_
24 #define __PLUGINS_ROBOTINO_IR_PCL_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/blackboard.h>
31 #include <aspect/pointcloud.h>
32 #include <pcl_utils/utils.h>
33 
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
36 
37 
38 namespace fawkes {
39  class RobotinoSensorInterface;
40 }
41 
43 : public fawkes::Thread,
47  public fawkes::LoggingAspect,
49 {
50  public:
52 
53  virtual void init();
54  virtual void loop();
55  virtual void finalize();
56 
57  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
58  protected: virtual void run() { Thread::run(); }
59 
60  private: // members
62 
64 
65  float *angle_sines_;
66  float *angle_cosines_;
67 };
68 
69 
70 #endif
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: ir_pcl_thread.h:58
Fawkes library namespace.
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:40
virtual void run()
Code to execute in the thread.
Definition: thread.cpp:939
Thread class encapsulation of pthreads.
Definition: thread.h:42
RobotinoSensorInterface Fawkes BlackBoard Interface.
Thread aspect to use blocked timing.
Robotino IR distances as point cloud.
Definition: ir_pcl_thread.h:42
Thread aspect to log output.
Definition: logging.h:35
Thread aspect to access configuration data.
Definition: configurable.h:35
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:49