Fawkes API
Fawkes Development Version
colli_plugin.cpp
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/***************************************************************************
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* colli_plugin.cpp - Fawkes Colli Plugin
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*
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* Created: Wed Oct 16 18:00:00 2013
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* Copyright 2013 Bahram Maleki-Fard
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*
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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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#include "act_thread.h"
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#include "colli_thread.h"
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#ifdef HAVE_VISUAL_DEBUGGING
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# include "visualization_thread.h"
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#endif
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#include <core/plugin.h>
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using namespace
fawkes
;
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/** Local odometry based path planning with collision avoidance.
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* @author Bahram Maleki-Fard
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*/
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class
ColliPlugin
:
public
fawkes::Plugin
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{
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public
:
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/** Constructor.
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* @param config The fawkes configuration
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*/
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explicit
ColliPlugin
(
Configuration
*config) :
Plugin
(config)
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{
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ColliThread
*colli_thread =
new
ColliThread
();
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thread_list.push_back(colli_thread);
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thread_list.push_back(
new
ColliActThread
(colli_thread));
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#ifdef HAVE_VISUAL_DEBUGGING
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ColliVisualizationThread *vis_thread =
new
ColliVisualizationThread();
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thread_list.push_back(vis_thread);
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colli_thread->
set_vis_thread
(vis_thread);
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#endif
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}
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};
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PLUGIN_DESCRIPTION(
"Local locomotion path planning with collision avoidance"
)
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EXPORT_PLUGIN(
ColliPlugin
)
ColliThread
Definition:
colli_thread.h:55
fawkes::Configuration
Definition:
config.h:68
fawkes
ColliPlugin
Local odometry based path planning with collision avoidance.
Definition:
colli_plugin.cpp:35
ColliThread::set_vis_thread
virtual void set_vis_thread(ColliVisualizationThread *vis_thread)
Set the visualization thread.
Definition:
colli_thread.cpp:213
ColliActThread
Definition:
act_thread.h:45
fawkes::Plugin
Definition:
plugin.h:37
src
plugins
colli
colli_plugin.cpp
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