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 #ifndef MAIN_THREAD_H
00011 #define MAIN_THREAD_H
00012 
00013 #include <gbxsickacfr/gbxiceutilacfr/safethread.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/ogmapImpl.h>
00020 
00021 namespace ognode
00022 {
00023 
00024 class MainThread : public gbxsickacfr::gbxiceutilacfr::SafeThread
00025 {
00026 public:
00027     MainThread( const orcaice::Context& context);
00028 
00029     virtual void walk();
00030 private:
00031 
00032     void init();
00033     void setUpInternalMapFromPriorMap( const std::string &priorMapProxyString );
00034     void setUpInternalMapFromProperties();
00035 
00036     Ice::ObjectPtr                        ogFusionObjPtr_;
00037     orcaifaceimpl::OgMapImplPtr           ogMapImpl_;
00038     gbxsickacfr::gbxiceutilacfr::Buffer<orca::OgFusionData> ogFusionDataBuffer_;
00039 
00040     // Represent the occupancy certainty values using doubles internally.
00041     hydroogmap::GenericMap<double> internalMap_;
00042 
00043     orcaice::Context context_;
00044 };
00045 
00046 } // namespace
00047 
00048 #endif
components/ognode/mainthread.h
