Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 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  
00011 #ifndef MAIN_THREAD_H
00012 #define MAIN_THREAD_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00015 #include <orcaice/context.h>
00016 
00017 namespace faithlocaliser
00018 {
00019 
00020 class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00021 {
00022 
00023 public:
00024 
00025     MainThread( const orcaice::Context &context );
00026 
00027     // from SubsystemThread
00028     virtual void walk();
00029 
00030 private:
00031     double stdDevPosition_;
00032     double stdDevHeading_;
00033 
00034     double minInterPublishPeriodSec_;
00035 
00036     orcaice::Context context_;
00037 };
00038 
00039 } // namespace
00040 
00041 #endif
components/faithlocaliser/mainthread.h
