Fawkes API Fawkes Development Version
static_transforms_thread.h
1
2/***************************************************************************
3 * static_transform_thread.h - Static transform publisher thread
4 *
5 * Created: Tue Oct 25 16:32:04 2011
6 * Copyright 2011 Tim Niemueller [www.niemueller.de]
7 * 2014 Tobias Neumann
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_STATIC_TRANSFORMS_STATIC_TRANSFORMS_THREAD_H_
24#define _PLUGINS_STATIC_TRANSFORMS_STATIC_TRANSFORMS_THREAD_H_
25
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 <aspect/tf.h>
32#include <config/change_handler.h>
33#include <core/threading/thread.h>
34
35namespace fawkes {
36class Time;
37}
38
46{
47public:
50
51 virtual void init();
52 virtual void loop();
53 virtual void finalize();
54
55 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
56protected:
57 virtual void
59 {
60 Thread::run();
61 }
62
63private:
64 /** Static transform entry to publish. */
65 typedef struct
66 {
67 std::string name; /**< Transform name */
68 fawkes::tf::StampedTransform *transform; /**< Transform. */
69 } Entry;
70
71 std::list<Entry> entries_;
72
73 void entries_delete();
74 void entries_get_from_config();
75
76 virtual void config_tag_changed(const char *new_tag){};
77 virtual void config_comment_changed(const fawkes::Configuration::ValueIterator *v){};
78 virtual void config_value_changed(const fawkes::Configuration::ValueIterator *v);
79 virtual void config_value_erased(const char *path){};
80};
81
82#endif
Thread to regularly publish static transforms.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual ~StaticTransformsThread()
Destructor.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
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
Interface for configuration change handling.
Iterator interface to iterate over config values.
Definition: config.h:75
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
const char * name() const
Get name of thread.
Definition: thread.h:100
Thread aspect to access the transform system.
Definition: tf.h:39
Transform that contains a timestamp and frame IDs.
Definition: types.h:92
Fawkes library namespace.