Fawkes API
Fawkes Development Version
gazsim_depthcam_thread.h
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/***************************************************************************
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* gazsim_depthcam_plugin.cpp - Plugin simulates a depthcam in Gazebo and
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* provides a point cloud
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*
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* Created: Fri Feb 19 20:58:32 2016
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* Copyright 2016 Frederik Zwilling
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_GAZSIM_DEPTHCAM_THREAD_H_
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#define _PLUGINS_GAZSIM_DEPTHCAM_THREAD_H_
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#include <aspect/blackboard.h>
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#include <aspect/blocked_timing.h>
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#include <aspect/clock.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <aspect/pointcloud.h>
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#include <core/threading/thread.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <plugins/gazebo/aspect/gazebo.h>
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#include <string.h>
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//from Gazebo
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#include <gazebo/msgs/MessageTypes.hh>
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#include <gazebo/transport/TransportTypes.hh>
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#include <gazebo/transport/transport.hh>
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class
DepthcamSimThread
:
public
fawkes::Thread
,
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public
fawkes::ClockAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::BlackBoardAspect
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::GazeboAspect
,
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public
fawkes::PointCloudAspect
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{
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public
:
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DepthcamSimThread
();
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virtual
void
init
();
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virtual
void
loop
();
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virtual
void
finalize
();
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private
:
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gazebo::transport::SubscriberPtr depthcam_sub_;
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//handler function for incoming depthcam data messages
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void
on_depthcam_data_msg(ConstPointCloudPtr &msg);
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//config values
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//topic name of the gazebo message publisher
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std::string topic_name_;
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unsigned
int
width_;
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unsigned
int
height_;
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//id of the shared memory object
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std::string shm_id_;
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std::string frame_;
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std::string pcl_id_;
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fawkes::RefPtr<pcl::PointCloud<pcl::PointXYZ>
> pcl_;
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};
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#endif
DepthcamSimThread
Definition:
gazsim_depthcam_thread.h:42
fawkes::GazeboAspect
Definition:
gazebo.h:40
fawkes::RefPtr
RefPtr<> is a reference-counting shared smartpointer.
Definition:
refptr.h:55
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:54
DepthcamSimThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
gazsim_depthcam_thread.cpp:73
DepthcamSimThread::init
virtual void init()
Initialize the thread.
Definition:
gazsim_depthcam_thread.cpp:49
fawkes::BlackBoardAspect
Definition:
blackboard.h:36
fawkes::PointCloudAspect
Definition:
pointcloud.h:36
fawkes::LoggingAspect
Definition:
logging.h:36
DepthcamSimThread::DepthcamSimThread
DepthcamSimThread()
Constructor.
Definition:
gazsim_depthcam_thread.cpp:42
fawkes::Thread
Definition:
thread.h:44
DepthcamSimThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
gazsim_depthcam_thread.cpp:79
fawkes::ConfigurableAspect
Definition:
configurable.h:36
fawkes::ClockAspect
Definition:
clock.h:38
src
plugins
gazebo
gazsim-depthcam
gazsim_depthcam_thread.h
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