22 #ifndef _PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
23 #define _PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/pointcloud.h>
30 #include <blackboard/interface_listener.h>
31 #include <blackboard/interface_observer.h>
32 #include <core/threading/thread.h>
33 #include <core/utils/lock_list.h>
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
39 class Laser360Interface;
40 class Laser720Interface;
41 class Laser1080Interface;
71 std::string interface_to_pcl_name(
const char *interface_id);
95 } InterfaceCloudMapping;
100 float sin_angles360[360];
101 float cos_angles360[360];
102 float sin_angles720[720];
103 float cos_angles720[720];
104 float sin_angles1080[1080];
105 float cos_angles1080[1080];
Thread to exchange transforms between Fawkes and ROS.
LaserPointCloudThread()
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
virtual void bb_interface_created(const char *type, const char *id) noexcept
BlackBoard interface created notification.
virtual void finalize()
Finalize the thread.
virtual void bb_interface_writer_removed(fawkes::Interface *interface, fawkes::Uuid instance_serial) noexcept
A writing instance has been closed for a watched interface.
virtual ~LaserPointCloudThread()
Destructor.
virtual void bb_interface_reader_removed(fawkes::Interface *interface, fawkes::Uuid instance_serial) noexcept
A reading instance has been closed for a watched interface.
Thread aspect to access to BlackBoard.
BlackBoard interface listener.
BlackBoard interface observer.
Thread aspect to use blocked timing.
Base class for all Fawkes BlackBoard interfaces.
Laser1080Interface Fawkes BlackBoard Interface.
Laser360Interface Fawkes BlackBoard Interface.
Laser720Interface Fawkes BlackBoard Interface.
Thread aspect to log output.
Thread aspect to provide and access point clouds.
RefPtr<> is a reference-counting shared smartpointer.
Thread class encapsulation of pthreads.
A convenience class for universally unique identifiers (UUIDs).
Fawkes library namespace.