Fawkes API
Fawkes Development Version
transform_computable.h
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/***************************************************************************
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* transform_computable.h - Computable for doing transforms
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*
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* Created: 4:11:27 PM 2016
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* Copyright 2016 Frederik Zwilling
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef FAWKES_SRC_PLUGINS_ROBOT_MEMORY_COMPUTABLES_TRANSFORM_COMPUTABLE_H_
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#define FAWKES_SRC_PLUGINS_ROBOT_MEMORY_COMPUTABLES_TRANSFORM_COMPUTABLE_H_
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#include "../robot_memory.h"
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#include <aspect/logging.h>
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#include <aspect/tf.h>
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#include <config/config.h>
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#include <bsoncxx/document/value.hpp>
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#include <bsoncxx/document/view.hpp>
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class
TransformComputable
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{
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public
:
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TransformComputable
(
RobotMemory
* robot_memory,
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fawkes::tf::Transformer
*tf,
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fawkes::Logger
* logger,
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fawkes::Configuration
* config);
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virtual
~
TransformComputable
();
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private
:
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std::list<bsoncxx::document::value> compute_transform(
const
bsoncxx::document::view &query,
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const
std::string & collection);
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RobotMemory
* robot_memory_;
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fawkes::Logger
* logger_;
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fawkes::tf::Transformer
* tf_;
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std::vector<Computable *> computables;
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fawkes::Configuration
* config_;
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};
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#endif
/* FAWKES_SRC_PLUGINS_ROBOT_MEMORY_COMPUTABLES_TRANSFORM_COMPUTABLE_H_ */
TransformComputable
Definition:
transform_computable.h:33
RobotMemory
Definition:
robot_memory.h:46
fawkes::tf::Transformer
Definition:
transformer.h:74
fawkes::Configuration
Definition:
config.h:70
fawkes::Logger
Definition:
logger.h:41
TransformComputable::TransformComputable
TransformComputable(RobotMemory *robot_memory, fawkes::tf::Transformer *tf, fawkes::Logger *logger, fawkes::Configuration *config)
Constructor for Transform computable with objects of thread aspects.
Definition:
transform_computable.cpp:40
src
plugins
robot-memory
computables
transform_computable.h
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