22 #ifndef __PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
23 #define __PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
25 #include <core/threading/thread.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/logging.h>
28 #include <aspect/blackboard.h>
29 #include <aspect/pointcloud.h>
30 #include <blackboard/interface_listener.h>
31 #include <blackboard/interface_observer.h>
32 #include <core/utils/lock_list.h>
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
39 class Laser360Interface;
40 class Laser720Interface;
65 unsigned int instance_serial)
throw();
67 unsigned int instance_serial)
throw();
71 std::string interface_to_pcl_name(
const char *interface_id);
74 protected:
virtual void run() { Thread::run(); }
88 } InterfaceCloudMapping;
93 float sin_angles360[360];
94 float cos_angles360[360];
95 float sin_angles720[720];
96 float cos_angles720[720];
Laser360Interface Fawkes BlackBoard Interface.
Thread aspect to access to BlackBoard.
Thread aspect to provide and access point clouds.
virtual void bb_interface_created(const char *type, const char *id)
BlackBoard interface created notification.
virtual void loop()
Code to execute in the thread.
Thread class encapsulation of pthreads.
Base class for all Fawkes BlackBoard interfaces.
LaserPointCloudThread()
Constructor.
virtual void init()
Initialize the thread.
Thread aspect to use blocked timing.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, unsigned int instance_serial)
A writing instance has been closed for a watched interface.
Thread aspect to log output.
BlackBoard interface observer.
virtual void finalize()
Finalize the thread.
virtual ~LaserPointCloudThread()
Destructor.
RefPtr<> is a reference-counting shared smartpointer.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void bb_interface_reader_removed(fawkes::Interface *interface, unsigned int instance_serial)
A reading instance has been closed for a watched interface.
Thread to exchange transforms between Fawkes and ROS.
Laser720Interface Fawkes BlackBoard Interface.
BlackBoard interface listener.