Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_LASER_ACQUISITION_THREAD_H_
24 #define _PLUGINS_LASER_ACQUISITION_THREAD_H_
26 #include <aspect/clock.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <core/threading/thread.h>
void alloc_echoes(unsigned int num_echoes)
Allocate echoes array.
unsigned int _distances_size
virtual void run()
Stub to see name in backtrace for easier debugging.
void unlock()
Unlock data,.
void alloc_distances(unsigned int num_distances)
Allocate distances array.
fawkes::Mutex * _data_mutex
fawkes::Time * _timestamp
const float * get_distance_data()
Get distance data.
void reset_distances()
Reset all distance values to NaN.
const float * get_echo_data()
Get echo data.
bool lock_if_new_data()
Lock data if fresh.
unsigned int _echoes_size
void reset_echoes()
Reset all distance values to NaN.
const fawkes::Time * get_timestamp()
Get timestamp of data.
LaserAcquisitionThread(const char *thread_name)
Constructor.
virtual void pre_init(fawkes::Configuration *config, fawkes::Logger *logger)=0
unsigned int get_echo_data_size()
Get echo data size.
unsigned int get_distance_data_size()
Get distance data size.