23#ifndef _PLUGINS_NAO_MOTION_THREAD_H_
24#define _PLUGINS_NAO_MOTION_THREAD_H_
26#include <aspect/blackboard.h>
27#include <aspect/blocked_timing.h>
28#include <aspect/clock.h>
29#include <aspect/configurable.h>
30#include <aspect/logging.h>
31#include <core/threading/thread.h>
32#include <plugins/nao/aspect/naoqi.h>
41class HumanoidMotionInterface;
42class NaoSensorInterface;
71 void process_messages();
74 void goto_body_angles(
float head_yaw,
76 float l_shoulder_pitch,
77 float l_shoulder_roll,
82 float l_hip_yaw_pitch,
88 float r_shoulder_pitch,
89 float r_shoulder_roll,
94 float r_hip_yaw_pitch,
103 AL::ALPtr<AL::ALMotionProxy> almotion_;
104 AL::ALPtr<AL::ALThreadPool> thread_pool_;
111 AL::ALPtr<AL::ALTask> motion_task_;
Thread to provide NaoQi motions to Fawkes.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
virtual ~NaoQiMotionThread()
Destructor.
virtual void loop()
Code to execute in the thread.
NaoQiMotionThread()
Constructor.
Thread aspect to access to BlackBoard.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Thread aspect to access configuration data.
HumanoidMotionInterface Fawkes BlackBoard Interface.
Thread aspect to log output.
Thread aspect to get access to NaoQi broker.
NaoSensorInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Fawkes library namespace.