Fawkes API  Fawkes Development Version
ir_pcl_thread.h
1 
2 /***************************************************************************
3  * ir_pcl_thread.h - Robotino IR point cloud thread
4  *
5  * Created: Mon Mar 26 14:05:08 2012
6  * Copyright 2011-2012 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_ROBOTINO_IR_PCL_THREAD_H_
24 #define _PLUGINS_ROBOTINO_IR_PCL_THREAD_H_
25 
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <aspect/pointcloud.h>
31 #include <core/threading/thread.h>
32 #include <pcl/point_cloud.h>
33 #include <pcl/point_types.h>
34 #include <pcl_utils/utils.h>
35 
36 namespace fawkes {
37 class RobotinoSensorInterface;
38 }
39 
40 class RobotinoIrPclThread : public fawkes::Thread,
44  public fawkes::LoggingAspect,
46 {
47 public:
49 
50  virtual void init();
51  virtual void loop();
52  virtual void finalize();
53 
54  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
55 protected:
56  virtual void
57  run()
58  {
59  Thread::run();
60  }
61 
62 private: // members
64 
66 
67  float *angle_sines_;
68  float *angle_cosines_;
69 };
70 
71 #endif
RobotinoIrPclThread::init
virtual void init()
Initialize the thread.
Definition: ir_pcl_thread.cpp:46
fawkes::RefPtr
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:55
RobotinoIrPclThread::RobotinoIrPclThread
RobotinoIrPclThread()
Constructor.
Definition: ir_pcl_thread.cpp:39
fawkes::BlockedTimingAspect
Definition: blocked_timing.h:54
RobotinoIrPclThread::finalize
virtual void finalize()
Finalize the thread.
Definition: ir_pcl_thread.cpp:71
fawkes::BlackBoardAspect
Definition: blackboard.h:36
fawkes::PointCloudAspect
Definition: pointcloud.h:36
fawkes
fawkes::LoggingAspect
Definition: logging.h:36
fawkes::RobotinoSensorInterface
Definition: RobotinoSensorInterface.h:37
RobotinoIrPclThread
Definition: ir_pcl_thread.h:39
RobotinoIrPclThread::loop
virtual void loop()
Code to execute in the thread.
Definition: ir_pcl_thread.cpp:81
fawkes::Thread
Definition: thread.h:44
fawkes::ConfigurableAspect
Definition: configurable.h:36
RobotinoIrPclThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: ir_pcl_thread.h:56