22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_ 23 #define _PLUGINS_PERCEPTION_PCL_DB_MERGE_PCL_DB_MERGE_THREAD_H_ 25 #include "pcl_db_merge_pipeline.h" 27 #include <aspect/blackboard.h> 28 #include <aspect/clock.h> 29 #include <aspect/configurable.h> 30 #include <aspect/logging.h> 31 #include <aspect/pointcloud.h> 32 #include <aspect/tf.h> 33 #include <core/threading/thread.h> 34 #include <pcl/point_cloud.h> 35 #include <pcl/point_types.h> 36 #include <plugins/mongodb/aspect/mongodb.h> 39 class PclDatabaseMergeInterface;
40 class BlackBoardOnMessageWaker;
41 #ifdef USE_TIMETRACKER 72 fawkes::PclDatabaseMergeInterface *merge_if_;
78 std::string cfg_database_;
79 std::string cfg_output_id_;
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
virtual void loop()
Code to execute in the thread.
Fawkes library namespace.
Thread aspect to provide and access point clouds.
Wake threads on receiving a blackboard message.
Thread class encapsulation of pthreads.
virtual void finalize()
Finalize the thread.
PointCloudDBMergeThread()
Constructor.
virtual ~PointCloudDBMergeThread()
Destructor.
Thread aspect to access MongoDB.
Thread aspect to log output.
Thread to merge point clouds from database on request.
Thread aspect to access configuration data.
RefPtr<> is a reference-counting shared smartpointer.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void init()
Initialize the thread.