PointCloudViewer.h
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00001 // -*- C++ -*-
00010 #ifndef POINT_CLOUD_VIEWER_H
00011 #define POINT_CLOUD_VIEWER_H
00012 
00013 #include <rtm/idl/BasicDataType.hh>
00014 #include "hrpsys/idl/pointcloud.hh"
00015 #include <rtm/Manager.h>
00016 #include <rtm/DataFlowComponentBase.h>
00017 #include <rtm/CorbaPort.h>
00018 #include <rtm/DataInPort.h>
00019 #include <rtm/DataOutPort.h>
00020 #include <rtm/idl/BasicDataTypeSkel.h>
00021 #include <pcl/visualization/cloud_viewer.h>
00022 
00023 // Service implementation headers
00024 // <rtc-template block="service_impl_h">
00025 
00026 // </rtc-template>
00027 
00028 // Service Consumer stub headers
00029 // <rtc-template block="consumer_stub_h">
00030 
00031 // </rtc-template>
00032 
00033 using namespace RTC;
00034 
00038 class PointCloudViewer
00039   : public RTC::DataFlowComponentBase
00040 {
00041  public:
00046   PointCloudViewer(RTC::Manager* manager);
00050   virtual ~PointCloudViewer();
00051 
00052   // The initialize action (on CREATED->ALIVE transition)
00053   // formaer rtc_init_entry()
00054   virtual RTC::ReturnCode_t onInitialize();
00055 
00056   // The finalize action (on ALIVE->END transition)
00057   // formaer rtc_exiting_entry()
00058   // virtual RTC::ReturnCode_t onFinalize();
00059 
00060   // The startup action when ExecutionContext startup
00061   // former rtc_starting_entry()
00062   // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
00063 
00064   // The shutdown action when ExecutionContext stop
00065   // former rtc_stopping_entry()
00066   // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
00067 
00068   // The activated action (Active state entry action)
00069   // former rtc_active_entry()
00070   virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
00071 
00072   // The deactivated action (Active state exit action)
00073   // former rtc_active_exit()
00074   virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
00075 
00076   // The execution action that is invoked periodically
00077   // former rtc_active_do()
00078   virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
00079 
00080   // The aborting action when main logic error occurred.
00081   // former rtc_aborting_entry()
00082   // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
00083 
00084   // The error action in ERROR state
00085   // former rtc_error_do()
00086   // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
00087 
00088   // The reset action that is invoked resetting
00089   // This is same but different the former rtc_init_entry()
00090   // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
00091 
00092   // The state update action that is invoked after onExecute() action
00093   // no corresponding operation exists in OpenRTm-aist-0.2.0
00094   // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
00095 
00096   // The action that is invoked when execution context's rate is changed
00097   // no corresponding operation exists in OpenRTm-aist-0.2.0
00098   // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
00099 
00100 
00101  protected:
00102   // Configuration variable declaration
00103   // <rtc-template block="config_declare">
00104   
00105   // </rtc-template>
00106 
00107   PointCloudTypes::PointCloud m_cloud;
00108 
00109   // DataInPort declaration
00110   // <rtc-template block="inport_declare">
00111   InPort<PointCloudTypes::PointCloud> m_cloudIn;
00112   
00113   // </rtc-template>
00114 
00115   // DataOutPort declaration
00116   // <rtc-template block="outport_declare">
00117   
00118   // </rtc-template>
00119 
00120   // CORBA Port declaration
00121   // <rtc-template block="corbaport_declare">
00122   
00123   // </rtc-template>
00124 
00125   // Service declaration
00126   // <rtc-template block="service_declare">
00127   
00128   // </rtc-template>
00129 
00130   // Consumer declaration
00131   // <rtc-template block="consumer_declare">
00132   
00133   // </rtc-template>
00134 
00135  private:
00136   pcl::visualization::CloudViewer m_viewer;
00137   int dummy;
00138 };
00139 
00140 
00141 extern "C"
00142 {
00143   void PointCloudViewerInit(RTC::Manager* manager);
00144 };
00145 
00146 #endif // POINT_CLOUD_VIEWER_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:55