23 #ifndef __PLUGINS_ROBOTINO_SENSOR_THREAD_H_
24 #define __PLUGINS_ROBOTINO_SENSOR_THREAD_H_
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>
35 #define NUM_IR_SENSORS 9
43 namespace sharedmemory {
44 template<
typename SharedType>
class SharedMemory;
47 namespace robotstate {
54 class BatteryInterface;
55 class RobotinoSensorInterface;
77 void update_distances(
float *distances);
80 std::string cfg_hostname_;
81 bool cfg_quit_on_disconnect_;
82 rec::robotino::com::Com *com_;
83 unsigned int last_seqnum_;
84 rec::sharedmemory::SharedMemory<rec::iocontrol::robotstate::State> *statemem_;
85 rec::iocontrol::robotstate::State *state_;
91 std::vector<std::pair<double, double> > voltage_to_dist_dps_;