Fawkes API
Fawkes Development Version
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57 #ifndef _PLUGINS_ROBOTSTATEPUBLISHER_ROBOTSTATEPUBLISHER_THREAD_H_
58 #define _PLUGINS_ROBOTSTATEPUBLISHER_ROBOTSTATEPUBLISHER_THREAD_H_
60 #include <aspect/blackboard.h>
61 #include <aspect/blocked_timing.h>
62 #include <aspect/clock.h>
63 #include <aspect/configurable.h>
64 #include <aspect/logging.h>
65 #include <aspect/tf.h>
66 #include <blackboard/interface_listener.h>
67 #include <blackboard/interface_observer.h>
68 #include <core/threading/thread.h>
69 #include <interfaces/JointInterface.h>
71 #include <kdl/frames.hpp>
72 #include <kdl/kdl.hpp>
73 #include <kdl/segment.hpp>
74 #include <kdl/tree.hpp>
89 SegmentPair(
const KDL::Segment &p_segment,
const std::string &p_root,
const std::string &p_tip)
125 unsigned int instance_serial)
throw();
127 unsigned int instance_serial)
throw();
130 void publish_fixed_transforms();
132 void add_children(
const KDL::SegmentMap::const_iterator segment);
133 void transform_kdl_to_tf(
const KDL::Frame &k, fawkes::tf::Transform &t);
134 bool joint_is_in_model(
const char *
id);
138 std::map<std::string, SegmentPair> segments_, segments_fixed_;
140 std::string cfg_urdf_path_;
141 float cfg_postdate_to_future_;
143 std::list<fawkes::JointInterface *> ifs_;
KDL::Segment segment
The segment of the joint pair.
SegmentPair(const KDL::Segment &p_segment, const std::string &p_root, const std::string &p_tip)
Constructor.
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 finalize()
Finalize the thread.
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.
virtual void bb_interface_data_changed(fawkes::Interface *interface)
BlackBoard data changed notification.
RobotStatePublisherThread()
Constructor.
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
std::string tip
The name of the child joint.
std::string root
The name of the parent joint.
virtual void loop()
Code to execute in the thread.