23#include "laser-cluster-thread.h"
25#include <core/plugin.h>
40 std::set<std::string> configs;
41 std::set<std::string> ignored_configs;
43 std::string prefix =
"/laser-cluster/";
46#if __cplusplus >= 201103L
47 std::unique_ptr<Configuration::ValueIterator> i(
config->
search(prefix.c_str()));
49 std::auto_ptr<Configuration::ValueIterator> i(
config->
search(prefix.c_str()));
52 std::string cfg_name = std::string(i->path()).substr(prefix.length());
53 cfg_name = cfg_name.substr(0, cfg_name.find(
"/"));
55 if ((configs.find(cfg_name) == configs.end())
56 && (ignored_configs.find(cfg_name) == ignored_configs.end())) {
57 std::string cfg_prefix = prefix + cfg_name +
"/";
69 configs.insert(cfg_name);
72 ignored_configs.insert(cfg_name);
84 throw Exception(
"No active laser filters configured, aborting");
89PLUGIN_DESCRIPTION(
"Detect cluster in 2D laser data")
Plugin to detect a cluster in 2D laser data.
LaserClusterPlugin(Configuration *config)
Constructor.
Main thread of laser-cluster plugin.
Interface for configuration handling.
virtual bool get_bool(const char *path)=0
Get value from configuration which is of type bool.
virtual ValueIterator * search(const char *path)=0
Iterator with search results.
Base class for exceptions in Fawkes.
ThreadList thread_list
Thread list member.
Configuration * config
Fawkes configuration.
void push_back(Thread *thread)
Add thread to the end.
Fawkes library namespace.