Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * ir_pcl_thread.h - Robotino IR point cloud thread 00004 * 00005 * Created: Mon Mar 26 14:05:08 2012 00006 * Copyright 2011-2012 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #ifndef __PLUGINS_ROBOTINO_IR_PCL_THREAD_H_ 00024 #define __PLUGINS_ROBOTINO_IR_PCL_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <aspect/blocked_timing.h> 00028 #include <aspect/logging.h> 00029 #include <aspect/configurable.h> 00030 #include <aspect/blackboard.h> 00031 #include <aspect/pointcloud.h> 00032 #include <pcl_utils/utils.h> 00033 00034 #include <pcl/point_cloud.h> 00035 #include <pcl/point_types.h> 00036 00037 00038 namespace fawkes { 00039 class RobotinoSensorInterface; 00040 } 00041 00042 class RobotinoIrPclThread 00043 : public fawkes::Thread, 00044 public fawkes::BlockedTimingAspect, 00045 public fawkes::BlackBoardAspect, 00046 public fawkes::PointCloudAspect, 00047 public fawkes::LoggingAspect 00048 { 00049 public: 00050 RobotinoIrPclThread(); 00051 00052 virtual void init(); 00053 virtual void loop(); 00054 virtual void finalize(); 00055 00056 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00057 protected: virtual void run() { Thread::run(); } 00058 00059 private: // members 00060 fawkes::RobotinoSensorInterface *sens_if_; 00061 00062 fawkes::RefPtr<pcl::PointCloud<pcl::PointXYZ> > pcl_xyz_; 00063 00064 float *angle_sines_; 00065 float *angle_cosines_; 00066 }; 00067 00068 00069 #endif