Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * laser_pointcloud_thread.h - Convert laser data to pointclouds 00004 * 00005 * Created: Thu Nov 17 10:21:40 2011 00006 * Copyright 2011 Tim Niemueller [www.niemueller.de] 00007 ****************************************************************************/ 00008 00009 /* This program is free software; you can redistribute it and/or modify 00010 * it under the terms of the GNU General Public License as published by 00011 * the Free Software Foundation; either version 2 of the License, or 00012 * (at your option) any later version. 00013 * 00014 * This program is distributed in the hope that it will be useful, 00015 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00016 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00017 * GNU Library General Public License for more details. 00018 * 00019 * Read the full text in the LICENSE.GPL file in the doc directory. 00020 */ 00021 00022 #ifndef __PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_ 00023 #define __PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_ 00024 00025 #include <core/threading/thread.h> 00026 #include <aspect/blocked_timing.h> 00027 #include <aspect/logging.h> 00028 #include <aspect/blackboard.h> 00029 #include <aspect/pointcloud.h> 00030 #include <blackboard/interface_listener.h> 00031 #include <blackboard/interface_observer.h> 00032 #include <core/utils/lock_list.h> 00033 00034 #include <pcl/point_cloud.h> 00035 #include <pcl/point_types.h> 00036 00037 namespace fawkes { 00038 class Interface; 00039 class Laser360Interface; 00040 class Laser720Interface; 00041 } 00042 00043 class LaserPointCloudThread 00044 : public fawkes::Thread, 00045 public fawkes::LoggingAspect, 00046 public fawkes::BlackBoardAspect, 00047 public fawkes::BlockedTimingAspect, 00048 public fawkes::PointCloudAspect, 00049 public fawkes::BlackBoardInterfaceObserver, 00050 public fawkes::BlackBoardInterfaceListener 00051 { 00052 public: 00053 LaserPointCloudThread(); 00054 virtual ~LaserPointCloudThread(); 00055 00056 virtual void init(); 00057 virtual void loop(); 00058 virtual void finalize(); 00059 00060 // for BlackBoardInterfaceObserver 00061 virtual void bb_interface_created(const char *type, const char *id) throw(); 00062 00063 // for BlackBoardInterfaceListener 00064 virtual void bb_interface_writer_removed(fawkes::Interface *interface, 00065 unsigned int instance_serial) throw(); 00066 virtual void bb_interface_reader_removed(fawkes::Interface *interface, 00067 unsigned int instance_serial) throw(); 00068 00069 private: 00070 void conditional_close(fawkes::Interface *interface) throw(); 00071 std::string interface_to_pcl_name(const char *interface_id); 00072 00073 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00074 protected: virtual void run() { Thread::run(); } 00075 00076 private: 00077 /// @cond INTERNALS 00078 typedef struct { 00079 std::string id; 00080 bool is_360; 00081 union { 00082 fawkes::Laser360Interface *as360; 00083 fawkes::Laser720Interface *as720; 00084 } interface_typed; 00085 fawkes::Interface *interface; 00086 00087 fawkes::RefPtr<pcl::PointCloud<pcl::PointXYZ> > cloud; 00088 } InterfaceCloudMapping; 00089 /// @endcond 00090 00091 fawkes::LockList<InterfaceCloudMapping> __mappings; 00092 00093 float sin_angles360[360]; 00094 float cos_angles360[360]; 00095 float sin_angles720[720]; 00096 float cos_angles720[720]; 00097 }; 00098 00099 #endif