PointCloudViewer.h
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1 // -*- C++ -*-
10 #ifndef POINT_CLOUD_VIEWER_H
11 #define POINT_CLOUD_VIEWER_H
12 
13 #include <rtm/idl/BasicDataType.hh>
14 #include "hrpsys/idl/pointcloud.hh"
15 #include <rtm/Manager.h>
16 #include <rtm/DataFlowComponentBase.h>
17 #include <rtm/CorbaPort.h>
18 #include <rtm/DataInPort.h>
19 #include <rtm/DataOutPort.h>
20 #include <rtm/idl/BasicDataTypeSkel.h>
21 #include <pcl/visualization/cloud_viewer.h>
22 
23 // Service implementation headers
24 // <rtc-template block="service_impl_h">
25 
26 // </rtc-template>
27 
28 // Service Consumer stub headers
29 // <rtc-template block="consumer_stub_h">
30 
31 // </rtc-template>
32 
33 using namespace RTC;
34 
40 {
41  public:
50  virtual ~PointCloudViewer();
51 
52  // The initialize action (on CREATED->ALIVE transition)
53  // formaer rtc_init_entry()
54  virtual RTC::ReturnCode_t onInitialize();
55 
56  // The finalize action (on ALIVE->END transition)
57  // formaer rtc_exiting_entry()
58  // virtual RTC::ReturnCode_t onFinalize();
59 
60  // The startup action when ExecutionContext startup
61  // former rtc_starting_entry()
62  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
63 
64  // The shutdown action when ExecutionContext stop
65  // former rtc_stopping_entry()
66  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
67 
68  // The activated action (Active state entry action)
69  // former rtc_active_entry()
70  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
71 
72  // The deactivated action (Active state exit action)
73  // former rtc_active_exit()
74  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
75 
76  // The execution action that is invoked periodically
77  // former rtc_active_do()
78  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
79 
80  // The aborting action when main logic error occurred.
81  // former rtc_aborting_entry()
82  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
83 
84  // The error action in ERROR state
85  // former rtc_error_do()
86  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
87 
88  // The reset action that is invoked resetting
89  // This is same but different the former rtc_init_entry()
90  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
91 
92  // The state update action that is invoked after onExecute() action
93  // no corresponding operation exists in OpenRTm-aist-0.2.0
94  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
95 
96  // The action that is invoked when execution context's rate is changed
97  // no corresponding operation exists in OpenRTm-aist-0.2.0
98  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
99 
100 
101  protected:
102  // Configuration variable declaration
103  // <rtc-template block="config_declare">
104 
105  // </rtc-template>
106 
107  PointCloudTypes::PointCloud m_cloud;
108 
109  // DataInPort declaration
110  // <rtc-template block="inport_declare">
112 
113  // </rtc-template>
114 
115  // DataOutPort declaration
116  // <rtc-template block="outport_declare">
117 
118  // </rtc-template>
119 
120  // CORBA Port declaration
121  // <rtc-template block="corbaport_declare">
122 
123  // </rtc-template>
124 
125  // Service declaration
126  // <rtc-template block="service_declare">
127 
128  // </rtc-template>
129 
130  // Consumer declaration
131  // <rtc-template block="consumer_declare">
132 
133  // </rtc-template>
134 
135  private:
136  pcl::visualization::CloudViewer m_viewer;
137  int dummy;
138 };
139 
140 
141 extern "C"
142 {
144 };
145 
146 #endif // POINT_CLOUD_VIEWER_H
sample RT component which has one data input port and one data output port
ec_id
pcl::visualization::CloudViewer m_viewer
void PointCloudViewerInit(RTC::Manager *manager)
manager
ExecutionContextHandle_t UniqueId
InPort< PointCloudTypes::PointCloud > m_cloudIn
PointCloudTypes::PointCloud m_cloud


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:20