Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_JACO_BIMANUAL_OPENRAVE_THREAD_H_
24 #define _PLUGINS_JACO_BIMANUAL_OPENRAVE_THREAD_H_
26 #include "openrave_base_thread.h"
29 # include <openrave/openrave.h>
71 void _init_dualmanipulation();
75 bool _solve_multi_ik(std::vector<float> &left, std::vector<float> &right);
78 typedef struct arm_struct
82 std::string manipname;
83 OpenRAVE::RobotBase::ManipulatorPtr manip;
95 fawkes::jaco_openrave_set_t planner_env_;
96 OpenRAVE::ModuleBasePtr mod_dualmanip_;
98 std::set<OpenRAVE::KinBody::LinkPtr> links_left_;
99 std::set<OpenRAVE::KinBody::LinkPtr> links_right_;
virtual void update_openrave()
Update the openrave environment to represent the current situation.
RefPtr<> is a reference-counting shared smartpointer.
virtual void plot_first()
Plot the first target of the target_queue, if it is a trajectory.
JacoBimanualOpenraveThread(fawkes::jaco_dual_arm_t *arms)
Constructor.
virtual bool add_target(float l_x, float l_y, float l_z, float l_e1, float l_e2, float l_e3, float r_x, float r_y, float r_z, float r_e1, float r_e2, float r_e3)
Add target for coordinated manipulation to the queue.
enum fawkes::jaco_trajec_state_enum jaco_trajec_state_t
The state of a trajectory.
virtual void set_constrained(bool enable)
Enable/Disable constrained planning.
virtual void finalize()
Finalize the thread.
Jaco struct containing all components required for a dual-arm setup.
Jaco struct containing all components required for one arm.
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.