22 #ifndef __PLUGINS_PERCEPTION_PCL_DB_STORE_PCL_DB_STORE_THREAD_H_ 23 #define __PLUGINS_PERCEPTION_PCL_DB_STORE_PCL_DB_STORE_THREAD_H_ 25 #include <core/threading/thread.h> 26 #include <aspect/clock.h> 27 #include <aspect/configurable.h> 28 #include <aspect/logging.h> 29 #include <aspect/blackboard.h> 30 #include <aspect/pointcloud.h> 31 #include <plugins/mongodb/aspect/mongodb.h> 33 #include <pcl/point_types.h> 34 #include <pcl/point_cloud.h> 37 class PclDatabaseStoreInterface;
38 class BlackBoardOnMessageWaker;
60 bool store_pointcloud(std::string pcl_id, std::string database,
61 std::string collection, std::string &errmsg);
65 protected:
virtual void run() { Thread::run(); }
72 std::string cfg_input_id_;
73 std::string cfg_database_;
virtual void loop()
Code to execute in the thread.
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
Fawkes library namespace.
Thread aspect to provide and access point clouds.
Wake threads on receiving a blackboard message.
PointCloudDBStoreThread()
Constructor.
Thread class encapsulation of pthreads.
virtual void init()
Initialize the thread.
Thread aspect to access MongoDB.
Thread aspect to log output.
Thread aspect to access configuration data.
Thread to store point clouds from database on request.
Point cloud adapter class.
PclDatabaseStoreInterface Fawkes BlackBoard Interface.
virtual ~PointCloudDBStoreThread()
Destructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void finalize()
Finalize the thread.