Fawkes API Fawkes Development Version
tf_example_thread.h
1
2/***************************************************************************
3 * tf_example_thread.h - tf example thread
4 *
5 * Created: Tue Oct 25 17:59:56 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_TF_EXAMPLE_TF_EXAMPLE_THREAD_H_
23#define _PLUGINS_TF_EXAMPLE_TF_EXAMPLE_THREAD_H_
24
25#include <aspect/blackboard.h>
26#include <aspect/blocked_timing.h>
27#include <aspect/configurable.h>
28#include <aspect/logging.h>
29#include <aspect/tf.h>
30#include <core/threading/thread.h>
31
32namespace fawkes {
33namespace tf {
34class TransformListener;
35}
36} // namespace fawkes
37
44{
45public:
47 virtual ~TfExampleThread();
48
49 virtual void init();
50 virtual void loop();
51 virtual void finalize();
52
53 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
54protected:
55 virtual void
57 {
58 Thread::run();
59 }
60
61private:
62 float angle_;
63};
64
65#endif
Main thread of tf example plugin.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual ~TfExampleThread()
Destructor.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
TfExampleThread()
Constructor.
virtual void finalize()
Finalize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Thread aspect to access the transform system.
Definition: tf.h:39
Fawkes library namespace.