23 #ifndef _PLUGINS_LASER_FILTER_FILTER_THREAD_H_
24 #define _PLUGINS_LASER_FILTER_FILTER_THREAD_H_
26 #include "filters/filter.h"
28 #include <aspect/blackboard.h>
29 #include <aspect/blocked_timing.h>
30 #include <aspect/configurable.h>
31 #include <aspect/logging.h>
32 #include <core/threading/thread.h>
34 # include <aspect/tf.h>
42 class Laser360Interface;
43 class Laser720Interface;
44 class Laser1080Interface;
83 void open_interfaces(std::string prefix,
84 std::vector<LaserInterface> & ifs,
85 std::vector<LaserDataFilter::Buffer *> &bufs,
89 std::string filter_type,
91 unsigned int in_data_size,
92 std::vector<LaserDataFilter::Buffer *> &inbufs);
103 std::vector<LaserInterface> in_;
104 std::vector<LaserInterface> out_;
106 std::vector<LaserDataFilter::Buffer *> in_bufs_;
107 std::vector<LaserDataFilter::Buffer *> out_bufs_;
111 std::string cfg_name_;
112 std::string cfg_prefix_;
114 std::list<LaserFilterThread *> wait_threads_;