ThreadSLAM.h

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#ifndef THREADSLAM_H_
#define THREADSLAM_H_

#include <boost/thread.hpp>

#include "obvision/reconstruct/grid/TsdGrid.h"

#include <ros/ros.h>


namespace ohm_tsd_slam
{

class ThreadSLAM
{
public:

  ThreadSLAM(obvious::TsdGrid& grid);

  virtual ~ThreadSLAM();

  void unblock(void);

  bool alive(unsigned int ms);

  void terminateThread(void);
protected:

  virtual void eventLoop(void) = 0;

  boost::thread* _thread;

  boost::mutex _sleepMutex;

  boost::condition_variable_any _sleepCond;

  bool _stayActive;

  obvious::TsdGrid& _grid;
};

} /* namespace ohm_tsd_slam */

#endif /* THREADSLAM_H_ */