INTRODUCTION Overview Download and Install Quick Start Documentation Publications NONFRAMEWORK CODE Driver Interfaces Drivers Libraries Utilities FRAMEWORK CODE Interfaces Components Libraries Utilities Full Software Listings DEVELOPER Tutorials Examples Dev Guide Dashboard PEOPLE Contributors Users Project Download Mailing lists
|
components/ognode/mainthread.h00001 /* 00002 * Orca-Robotics Project: Components for robotics 00003 * http://orca-robotics.sf.net/ 00004 * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp 00005 * 00006 * This copy of Orca is licensed to you under the terms described in 00007 * the LICENSE file included in this distribution. 00008 * 00009 */ 00010 #ifndef MAIN_THREAD_H 00011 #define MAIN_THREAD_H 00012 00013 #include <orcaice/subsystemthread.h> 00014 #include <gbxsickacfr/gbxiceutilacfr/buffer.h> 00015 #include <orcaice/context.h> 00016 00017 #include <orca/ogfusion.h> 00018 #include <hydroogmap/hydroogmap.h> 00019 #include <orcaifaceimpl/ogmap.h> 00020 00021 namespace ognode 00022 { 00023 00024 class MainThread : public orcaice::SubsystemThread 00025 { 00026 public: 00027 MainThread( const orcaice::Context& context); 00028 00029 private: 00030 00031 // from SubsystemThread 00032 virtual void initialise(); 00033 virtual void work(); 00034 00035 void setUpInternalMapFromPriorMap( const std::string &priorMapProxyString ); 00036 void setUpInternalMapFromProperties(); 00037 00038 Ice::ObjectPtr ogFusionObjPtr_; 00039 orcaifaceimpl::OgMapImplPtr ogMapImpl_; 00040 gbxiceutilacfr::Buffer<orca::OgFusionData> ogFusionDataBuffer_; 00041 00042 // Represent the occupancy certainty values using doubles internally. 00043 hydroogmap::GenericMap<double> internalMap_; 00044 00045 double maxPushPeriodSec_; 00046 00047 orcaice::Context context_; 00048 }; 00049 00050 } // namespace 00051 00052 #endif |
Webmaster: Tobias Kaupp (tobasco at users.sourceforge.net)