22 #ifndef _PLUGINS_COLLI_VISUALIZATION_THREAD_H_
23 #define _PLUGINS_COLLI_VISUALIZATION_THREAD_H_
25 #ifdef HAVE_VISUAL_DEBUGGING
27 # include "common/types.h"
29 # include <aspect/configurable.h>
30 # include <aspect/logging.h>
31 # include <aspect/tf.h>
32 # include <core/threading/mutex.h>
33 # include <core/threading/thread.h>
34 # include <plugins/ros/aspect/ros.h>
43 class LaserOccupancyGrid;
46 typedef struct point_struct
point_t;
56 ColliVisualizationThread();
72 ros::Publisher *pub_roboshape_;
74 ros::Publisher *pub_cells_occ_;
75 ros::Publisher *pub_cells_near_;
76 ros::Publisher *pub_cells_mid_;
77 ros::Publisher *pub_cells_far_;
78 ros::Publisher *pub_cells_free_;
79 ros::Publisher *pub_search_path_;
81 std::vector<fawkes::point_t> cells_occ_;
82 std::vector<fawkes::point_t> cells_near_;
83 std::vector<fawkes::point_t> cells_mid_;
84 std::vector<fawkes::point_t> cells_far_;
85 std::vector<fawkes::point_t> cells_free_;
87 std::string frame_base_;
88 std::string frame_laser_;
Thread aspect to access configuration data.
This OccGrid is derived by the Occupancy Grid originally from Andreas Strack, but modified for speed ...
Thread aspect to log output.
Mutex mutual exclusion lock.
Thread aspect to get access to a ROS node handle.
This class is mainly the same as the basic class with the difference that all data is precalculated o...
Thread class encapsulation of pthreads.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
This class tries to translate the found plan to interpreteable data for the rest of the program.
Fawkes library namespace.
struct fawkes::point_struct point_t
Point with cartesian coordinates as signed integers.
Costs of occupancy-grid cells.