24 #ifndef _PLUGINS_KATANA_ACT_THREAD_H_
25 #define _PLUGINS_KATANA_ACT_THREAD_H_
27 #include <aspect/blackboard.h>
28 #include <aspect/blocked_timing.h>
29 #include <aspect/clock.h>
30 #include <aspect/configurable.h>
31 #include <aspect/logging.h>
32 #include <aspect/tf.h>
33 #include <core/threading/thread.h>
35 # include <plugins/openrave/aspect/openrave.h>
37 #include <blackboard/interface_listener.h>
38 #include <core/utils/refptr.h>
39 #ifdef USE_TIMETRACKER
40 # include <utils/time/tracker.h>
47 class KatanaInterface;
50 class KatanaController;
98 void update_position(
bool refresh);
99 void update_sensors(
bool refresh);
100 void update_motors(
bool refresh);
108 std::vector<fawkes::JointInterface *> *joint_ifs_;
110 std::string cfg_controller_;
111 std::string cfg_device_;
112 std::string cfg_kni_conffile_;
113 bool cfg_auto_calibrate_;
114 unsigned int cfg_defmax_speed_;
115 unsigned int cfg_read_timeout_;
116 unsigned int cfg_write_timeout_;
117 unsigned int cfg_gripper_pollint_;
118 unsigned int cfg_goto_pollint_;
123 float cfg_park_theta_;
126 float cfg_distance_scale_;
128 float cfg_update_interval_;
130 std::string cfg_frame_kni_;
131 std::string cfg_frame_gripper_;
132 std::string cfg_frame_openrave_;
134 bool cfg_OR_enabled_;
136 bool cfg_OR_use_viewer_;
137 bool cfg_OR_auto_load_ik_;
138 std::string cfg_OR_robot_file_;
139 std::string cfg_OR_arm_model_;
156 #ifdef USE_TIMETRACKER
158 unsigned int tt_count_;
159 unsigned int ttc_read_sensor_;