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> 41 class HumanoidMotionInterface;
42 class 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 aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Fawkes library namespace.
virtual ~NaoQiMotionThread()
Destructor.
Thread class encapsulation of pthreads.
NaoSensorInterface Fawkes BlackBoard Interface.
NaoQiMotionThread()
Constructor.
virtual void init()
Initialize the thread.
Thread to provide NaoQi motions to Fawkes.
Thread aspect to use blocked timing.
HumanoidMotionInterface Fawkes BlackBoard Interface.
virtual void loop()
Code to execute in the thread.
Thread aspect to log output.
Thread aspect to get access to NaoQi broker.
Thread aspect to access configuration data.