Fawkes API  Fawkes Development Version
laser_pointcloud_thread.h
1 
2 /***************************************************************************
3  * laser_pointcloud_thread.h - Convert laser data to pointclouds
4  *
5  * Created: Thu Nov 17 10:21:40 2011
6  * Copyright 2011 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
23 #define _PLUGINS_LASER_POINTCLOUDS_LASER_POINTCLOUD_THREAD_H_
24 
25 // must be first for reliable ROS detection
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>
36 
37 namespace fawkes {
38 class Interface;
39 class Laser360Interface;
40 class Laser720Interface;
41 class Laser1080Interface;
42 } // namespace fawkes
43 
45  public fawkes::LoggingAspect,
51 {
52 public:
54  virtual ~LaserPointCloudThread();
55 
56  virtual void init();
57  virtual void loop();
58  virtual void finalize();
59 
60  // for BlackBoardInterfaceObserver
61  virtual void bb_interface_created(const char *type, const char *id) noexcept;
62 
63  // for BlackBoardInterfaceListener
64  virtual void bb_interface_writer_removed(fawkes::Interface *interface,
65  fawkes::Uuid instance_serial) noexcept;
66  virtual void bb_interface_reader_removed(fawkes::Interface *interface,
67  fawkes::Uuid instance_serial) noexcept;
68 
69 private:
70  void conditional_close(fawkes::Interface *interface) noexcept;
71  std::string interface_to_pcl_name(const char *interface_id);
72 
73  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
74 protected:
75  virtual void
76  run()
77  {
78  Thread::run();
79  }
80 
81 private:
82  /// @cond INTERNALS
83  typedef struct
84  {
85  std::string id;
86  unsigned int size;
87  union {
91  } interface_typed;
92  fawkes::Interface *interface;
93 
95  } InterfaceCloudMapping;
96  /// @endcond
97 
99 
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];
106 };
107 
108 #endif
Thread to exchange transforms between Fawkes and ROS.
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.
Definition: blackboard.h:34
BlackBoard interface listener.
BlackBoard interface observer.
Thread aspect to use blocked timing.
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
Laser1080Interface Fawkes BlackBoard Interface.
Laser360Interface Fawkes BlackBoard Interface.
Laser720Interface Fawkes BlackBoard Interface.
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:38
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:50
Thread class encapsulation of pthreads.
Definition: thread.h:46
A convenience class for universally unique identifiers (UUIDs).
Definition: uuid.h:29
Fawkes library namespace.