SVHFeedbackPollingThread.h

Go to the documentation of this file.

// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK SVH Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2014 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
// © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef DRIVER_SVH_SVH_FEEDBACK_POLLING_THREAD_H_INCLUDED
#define DRIVER_SVH_SVH_FEEDBACK_POLLING_THREAD_H_INCLUDED

#include <icl_core/TimeSpan.h>
#include <icl_core_thread/PeriodicThread.h>
#include <driver_svh/SVHController.h>

using icl_core::TimeSpan;
using icl_core::thread::PeriodicThread;

namespace driver_svh {

// forward declaration as the fingermanager already uses this class
class SVHFingerManager;

class SVHFeedbackPollingThread : public PeriodicThread
{
public:
  SVHFeedbackPollingThread(const TimeSpan& period, SVHFingerManager* finger_manager);

  virtual ~SVHFeedbackPollingThread() {}

  virtual void run();

private:

  SVHFingerManager* m_finger_manager;

};

}

#endif