Fawkes API
Fawkes Development Version
act_thread.h
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/***************************************************************************
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* act_thread.h - Colli Act Thread
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*
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* Created: Thu Oct 17 16:58:00 2013
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* Copyright 2013-2014 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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#ifndef _PLUGINS_COLLI_ACT_THREAD_H_
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#define _PLUGINS_COLLI_ACT_THREAD_H_
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#include <aspect/blackboard.h>
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#include <aspect/blocked_timing.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <aspect/tf.h>
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#include <core/threading/thread.h>
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#include <interfaces/NavigatorInterface.h>
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#include <string>
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namespace
ros {
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class
Subscriber;
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}
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namespace
fawkes
{
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class
NavigatorInterface;
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}
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class
ColliThread
;
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class
ColliActThread
:
public
fawkes::Thread
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::BlackBoardAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::TransformAspect
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{
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public
:
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ColliActThread
(
ColliThread
*colli_thread);
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virtual
~ColliActThread
();
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virtual
void
init
();
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virtual
void
loop
();
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virtual
void
finalize
();
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private
:
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ColliThread
*thread_colli_;
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fawkes::NavigatorInterface
*if_navi_;
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ros::Subscriber *sub_;
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std::string cfg_iface_navi_;
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std::string cfg_frame_odom_;
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// default parameters, read from config
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float
cfg_security_distance_;
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float
cfg_max_velocity_;
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float
cfg_max_rotation_;
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float
cfg_escaping_enabled_;
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bool
cfg_stop_at_target_;
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fawkes::NavigatorInterface::OrientationMode
cfg_orient_mode_;
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fawkes::NavigatorInterface::DriveMode
cfg_drive_mode_;
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// methods mainly transfered from libmonaco
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bool
colli_final();
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void
colli_stop();
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void
colli_relgoto(
float
x,
float
y,
float
ori);
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void
colli_goto(
float
x,
float
y,
float
ori);
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};
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#endif
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:54
ColliThread
Definition:
colli_thread.h:55
fawkes::NavigatorInterface::DriveMode
DriveMode
Drive modes enum.
Definition:
NavigatorInterface.h:63
fawkes::BlackBoardAspect
Definition:
blackboard.h:36
fawkes
fawkes::LoggingAspect
Definition:
logging.h:36
fawkes::TransformAspect
Definition:
tf.h:41
ColliActThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
act_thread.cpp:122
fawkes::NavigatorInterface::OrientationMode
OrientationMode
Orientation mode enum.
Definition:
NavigatorInterface.h:73
fawkes::Thread
Definition:
thread.h:44
fawkes::ConfigurableAspect
Definition:
configurable.h:36
ColliActThread
Definition:
act_thread.h:45
ColliActThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
act_thread.cpp:116
ColliActThread::~ColliActThread
virtual ~ColliActThread()
Desctructor.
Definition:
act_thread.cpp:53
fawkes::NavigatorInterface
Definition:
NavigatorInterface.h:37
ColliActThread::ColliActThread
ColliActThread(ColliThread *colli_thread)
Constructor.
Definition:
act_thread.cpp:45
ColliActThread::init
virtual void init()
Initialize the thread.
Definition:
act_thread.cpp:58
src
plugins
colli
act_thread.h
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