Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * static_transform_thread.h - Static transform publisher thread 00004 * 00005 * Created: Tue Oct 25 16:32:04 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_STATIC_TRANSFORMS_STATIC_TRANSFORMS_THREAD_H_ 00023 #define __PLUGINS_STATIC_TRANSFORMS_STATIC_TRANSFORMS_THREAD_H_ 00024 00025 #include <core/threading/thread.h> 00026 #include <aspect/blocked_timing.h> 00027 #include <aspect/clock.h> 00028 #include <aspect/configurable.h> 00029 #include <aspect/logging.h> 00030 #include <aspect/blackboard.h> 00031 #include <aspect/tf.h> 00032 00033 namespace fawkes { 00034 class Time; 00035 } 00036 00037 class StaticTransformsThread 00038 : public fawkes::Thread, 00039 public fawkes::ClockAspect, 00040 public fawkes::LoggingAspect, 00041 public fawkes::ConfigurableAspect, 00042 public fawkes::BlockedTimingAspect, 00043 public fawkes::BlackBoardAspect, 00044 public fawkes::TransformAspect 00045 { 00046 public: 00047 StaticTransformsThread(); 00048 virtual ~StaticTransformsThread(); 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 private: 00058 /** Static transform entry to publish. */ 00059 typedef struct { 00060 std::string name; /**< Transform name */ 00061 fawkes::tf::StampedTransform *transform; /**< Transform. */ 00062 } Entry; 00063 00064 std::list<Entry> __entries; 00065 00066 float __cfg_update_interval; 00067 fawkes::Time *__last_update; 00068 }; 00069 00070 #endif