Fawkes API  Fawkes Development Version
pcl_db_merge_thread.h
1 
2 /***************************************************************************
3  * pcl_db_merge_thread.h - Restore and merge point clouds from MongoDB
4  *
5  * Created: Wed Nov 28 10:53:14 2012 (Freiburg)
6  * Copyright 2012 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_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_
24 
25 #include "pcl_db_merge_pipeline.h"
26 
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>
37 
38 namespace fawkes {
39 class PclDatabaseMergeInterface;
40 class BlackBoardOnMessageWaker;
41 #ifdef USE_TIMETRACKER
42 class TimeTracker;
43 #endif
44 } // namespace fawkes
45 
47  public fawkes::ClockAspect,
48  public fawkes::LoggingAspect,
51  public fawkes::MongoDBAspect,
54 {
55 public:
57  virtual ~PointCloudDBMergeThread();
58 
59  virtual void init();
60  virtual void loop();
61  virtual void finalize();
62 
63  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
64 protected:
65  virtual void
66  run()
67  {
68  Thread::run();
69  }
70 
71 private: // members
72  fawkes::PclDatabaseMergeInterface *merge_if_;
74 
77 
78  std::string cfg_database_;
79  std::string cfg_output_id_;
80 
83 };
84 
85 #endif
Thread to merge point clouds from database on request.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual ~PointCloudDBMergeThread()
Destructor.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Wake threads on receiving a blackboard message.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to access MongoDB.
Definition: mongodb.h:39
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
Thread aspect to access the transform system.
Definition: tf.h:39
Fawkes library namespace.