25 #ifndef __PLUGINS_LASERHT_SENSPROC_THREAD_H_
26 #define __PLUGINS_LASERHT_SENSPROC_THREAD_H_
28 #include <core/threading/thread.h>
29 #include <aspect/blocked_timing.h>
30 #include <aspect/logging.h>
31 #include <aspect/configurable.h>
32 #include <aspect/blackboard.h>
38 class Laser360Interface;
39 class ObjectPositionInterface;
40 class VisualDisplay2DInterface;
72 void fit_line(
const std::vector<laser_reading_t> &points,
73 const unsigned int first_index,
74 float &a,
float &b,
float &least_square_error);
76 void line_points_from_params(
float r,
float phi,
77 float &x1,
float &y1,
float &x2,
float &y2);
84 unsigned int __cfg_num_samples;
85 unsigned int __cfg_vote_threshold;
87 std::string __cfg_laser_ifid;
88 bool __cfg_enable_disp;
89 float __cfg_fitting_error_threshold;
90 float __cfg_dist_threshold;
94 unsigned int __num_vals;
99 #ifdef LASERHT_TIMETRACKER
101 unsigned int __tt_loop;
102 unsigned int __ttc_reset;
103 unsigned int __ttc_process;
104 unsigned int __ttc_fitting;
105 unsigned int __ttc_total;