Fawkes API  Fawkes Development Version
execution_time_estimator_navgraph_thread.h
1 /***************************************************************************
2  * execution_time_estimator_navgraph_thread.h - Skill exec times from navgraph
3  *
4  * Created: Tue 07 Jan 2020 15:40:18 CET 15:40
5  * Copyright 2020 Till Hofmann <hofmann@kbsg.rwth-aachen.de>
6  ****************************************************************************/
7 
8 /* This program is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2 of the License, or
11  * (at your option) any later version.
12  *
13  * This program is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU Library General Public License for more details.
17  *
18  * Read the full text in the LICENSE.GPL file in the doc directory.
19  */
20 
21 #pragma once
22 
23 #include "navgraph_estimator.h"
24 
25 #include <aspect/blackboard.h>
26 #include <aspect/configurable.h>
27 #include <core/threading/thread.h>
28 #include <navgraph/aspect/navgraph.h>
29 
35 {
36 public:
38  void init();
39  void finalize();
40 
41 private:
42  constexpr static char cfg_prefix_[] = "plugins/execution-time-estimator/navgraph/";
43  std::shared_ptr<fawkes::NavGraphEstimator> estimator_;
44 };
Get estimates for skill execution times from the navgraph.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
An aspect to give access to the execution time estimator manager.
Thread aspect to access NavGraph.
Definition: navgraph.h:36
Thread class encapsulation of pthreads.
Definition: thread.h:46