23 #include "openrave_base_thread.h"
25 #include <core/threading/mutex.h>
26 #include <interfaces/JacoInterface.h>
33 # include <plugins/openrave/environment.h>
34 # include <plugins/openrave/manipulator.h>
35 # include <plugins/openrave/manipulators/kinova_jaco.h>
36 # include <plugins/openrave/robot.h>
37 using namespace OpenRAVE;
56 cfg_OR_auto_load_ik_ =
false;
57 plot_current_ =
false;
65 viewer_env_.env = NULL;
66 viewer_env_.robot = NULL;
67 viewer_env_.manip = NULL;
83 cfg_OR_use_viewer_ =
config->
get_bool(
"/hardware/jaco/openrave/use_viewer");
84 cfg_OR_auto_load_ik_ =
config->
get_bool(
"/hardware/jaco/openrave/auto_load_ik");
85 cfg_OR_sampling_ =
config->
get_float(
"/hardware/jaco/openrave/sampling");
87 cfg_OR_plot_traj_manip_ =
88 config->
get_bool(
"/hardware/jaco/openrave/plotting/planned_manipulator");
89 cfg_OR_plot_traj_joints_ =
config->
get_bool(
"/hardware/jaco/openrave/plotting/planned_joints");
90 cfg_OR_plot_cur_manip_ =
config->
get_bool(
"/hardware/jaco/openrave/plotting/current_manipulator");
91 cfg_OR_plot_cur_joints_ =
config->
get_bool(
"/hardware/jaco/openrave/plotting/current_joints");
96 viewer_env_.env = openrave->get_environment();
97 viewer_env_.env->enable_debug();
98 viewer_env_.env->set_name(
"Viewer");
103 if (cfg_OR_use_viewer_)
104 openrave->start_viewer();
117 viewer_env_.robot = NULL;
118 viewer_env_.manip = NULL;
119 viewer_env_.env = NULL;
133 plannerparams_ = params;
147 plannerparams_ = params;
158 plot_current_ = enable;