Fawkes API  Fawkes Development Version
tf_example_thread.h
00001 
00002 /***************************************************************************
00003  *  tf_example_thread.h - tf example thread
00004  *
00005  *  Created: Tue Oct 25 17:59:56 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_TF_EXAMPLE_TF_EXAMPLE_THREAD_H_
00023 #define __PLUGINS_TF_EXAMPLE_TF_EXAMPLE_THREAD_H_
00024 
00025 #include <core/threading/thread.h>
00026 #include <aspect/blocked_timing.h>
00027 #include <aspect/logging.h>
00028 #include <aspect/configurable.h>
00029 #include <aspect/blackboard.h>
00030 #include <aspect/tf.h>
00031 
00032 namespace fawkes {
00033   namespace tf {
00034     class TransformListener;
00035   }
00036 }
00037 
00038 class TfExampleThread
00039 : public fawkes::Thread,
00040   public fawkes::BlockedTimingAspect,
00041   public fawkes::LoggingAspect,
00042   public fawkes::ConfigurableAspect,
00043   public fawkes::BlackBoardAspect,
00044   public fawkes::TransformAspect
00045 {
00046  public:
00047   TfExampleThread();
00048   virtual ~TfExampleThread();
00049 
00050   virtual void init();
00051   virtual void loop();
00052   virtual void finalize();
00053 
00054  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00055  protected: virtual void run() { Thread::run(); }
00056 
00057 };
00058 
00059 #endif