Fawkes API
Fawkes Development Version
|
22 #ifndef _PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
23 #define _PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/pointcloud.h>
30 #include <blackboard/interface_listener.h>
31 #include <blackboard/interface_observer.h>
32 #include <core/threading/thread.h>
33 #include <core/utils/lock_list.h>
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
39 class Laser360Interface;
40 class Laser720Interface;
41 class Laser1080Interface;
65 unsigned int instance_serial)
throw();
67 unsigned int instance_serial)
throw();
71 std::string interface_to_pcl_name(
const char *interface_id);
95 } InterfaceCloudMapping;
100 float sin_angles360[360];
101 float cos_angles360[360];
102 float sin_angles720[720];
103 float cos_angles720[720];
104 float sin_angles1080[1080];
105 float cos_angles1080[1080];
virtual ~LaserPointCloudThread()
Destructor.
RefPtr<> is a reference-counting shared smartpointer.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
virtual void bb_interface_reader_removed(fawkes::Interface *interface, unsigned int instance_serial)
A reading instance has been closed for a watched interface.
virtual void run()
Stub to see name in backtrace for easier debugging.
LaserPointCloudThread()
Constructor.
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
virtual void init()
Initialize the thread.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, unsigned int instance_serial)
A writing instance has been closed for a watched interface.