21 #ifndef _PLUGINS_NAVGRAPH_CLUSTERS_NAVGRAPH_CLUSTERS_THREAD_H_
22 #define _PLUGINS_NAVGRAPH_CLUSTERS_NAVGRAPH_CLUSTERS_THREAD_H_
24 #include <aspect/blackboard.h>
25 #include <aspect/clock.h>
26 #include <aspect/configurable.h>
27 #include <aspect/logging.h>
28 #include <aspect/tf.h>
29 #include <blackboard/interface_listener.h>
30 #include <blackboard/interface_observer.h>
31 #include <core/threading/thread.h>
32 #include <core/utils/lock_list.h>
33 #include <navgraph/aspect/navgraph.h>
35 #include <Eigen/Geometry>
41 class Position3DInterface;
43 class NavGraphEdgeConstraint;
44 class NavGraphEdgeCostConstraint;
65 std::list<std::pair<std::string, std::string>>
blocked_edges()
throw();
67 std::list<std::tuple<std::string, std::string, Eigen::Vector2f>>
70 bool robot_pose(Eigen::Vector2f &pose)
throw();
82 virtual void bb_interface_created(
const char *type,
const char *
id)
throw();
86 unsigned int instance_serial)
throw();
88 unsigned int instance_serial)
throw();
93 fixed_frame_pose(std::string frame,
const fawkes::Time ×tamp,
float x,
float y);
96 std::string cfg_iface_prefix_;
97 float cfg_close_threshold_;
98 std::string cfg_fixed_frame_;
99 std::string cfg_base_frame_;
100 int cfg_min_vishistory_;
101 std::string cfg_mode_;