22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_RETRIEVE_PCL_DB_RETRIEVE_THREAD_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_RETRIEVE_PCL_DB_RETRIEVE_THREAD_H_
25 #include "pcl_db_retrieve_pipeline.h"
27 #include <aspect/blackboard.h>
28 #include <aspect/clock.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <aspect/pointcloud.h>
32 #include <aspect/tf.h>
33 #include <core/threading/thread.h>
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
36 #include <plugins/mongodb/aspect/mongodb.h>
39 class PclDatabaseRetrieveInterface;
40 class BlackBoardOnMessageWaker;
69 fawkes::PclDatabaseRetrieveInterface *retrieve_if_;
78 std::string cfg_database_;
79 std::string cfg_output_id_;
80 std::string cfg_original_id_;
Thread to retrieve point clouds from database on request.
PointCloudDBRetrieveThread()
Constructor.
virtual ~PointCloudDBRetrieveThread()
Destructor.
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Wake threads on receiving a blackboard message.
Thread aspect that allows to obtain the current time from the clock.
Thread aspect to access configuration data.
Thread aspect to log output.
Thread aspect to access MongoDB.
Thread aspect to provide and access point clouds.
RefPtr<> is a reference-counting shared smartpointer.
Thread class encapsulation of pthreads.
Fawkes library namespace.