Fawkes API
Fawkes Development Version
Main Page
Related Pages
Modules
Namespaces
Classes
Files
File List
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
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 <core/threading/thread.h>
27
#include <aspect/blocked_timing.h>
28
#include <aspect/logging.h>
29
#include <aspect/configurable.h>
30
#include <aspect/blackboard.h>
31
#include <aspect/pointcloud.h>
32
#include <pcl_utils/utils.h>
33
34
#include <pcl/point_cloud.h>
35
#include <pcl/point_types.h>
36
37
38
namespace
fawkes {
39
class
RobotinoSensorInterface;
40
}
41
42
class
RobotinoIrPclThread
43
:
public
fawkes::Thread
,
44
public
fawkes::BlockedTimingAspect
,
45
public
fawkes::BlackBoardAspect
,
46
public
fawkes::PointCloudAspect
,
47
public
fawkes::LoggingAspect
48
{
49
public
:
50
RobotinoIrPclThread
();
51
52
virtual
void
init
();
53
virtual
void
loop
();
54
virtual
void
finalize
();
55
56
/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
57
protected
:
virtual
void
run
() {
Thread::run
(); }
58
59
private
:
// members
60
fawkes::RobotinoSensorInterface
*sens_if_;
61
62
fawkes::RefPtr<pcl::PointCloud<pcl::PointXYZ>
> pcl_xyz_;
63
64
float
*angle_sines_;
65
float
*angle_cosines_;
66
};
67
68
69
#endif
src
plugins
robotino
ir_pcl_thread.h
Generated by
1.8.1.2