Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_JACO_BIMANUAL_GOTO_THREAD_H_
24 #define _PLUGINS_JACO_BIMANUAL_GOTO_THREAD_H_
28 #include <aspect/blackboard.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <core/threading/thread.h>
52 virtual void move_gripper(
float l_f1,
float l_f2,
float l_f3,
float r_f1,
float r_f2,
float r_f3);
63 void _lock_queues()
const;
64 void _unlock_queues()
const;
68 void _move_grippers();
73 typedef struct arm_struct
86 arm_struct_t *v_arms_[2];
virtual void move_gripper(float l_f1, float l_f2, float l_f3, float r_f1, float r_f2, float r_f3)
Moves only the gripper of both arms.
Mutex mutual exclusion lock.
RefPtr<> is a reference-counting shared smartpointer.
virtual void init()
Initialize the thread.
virtual ~JacoBimanualGotoThread()
Destructor.
Jaco struct containing all components required for a dual-arm setup.
Jaco Arm movement thread.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
virtual void loop()
The main loop of this thread.
Thread class encapsulation of pthreads.
Jaco struct containing all components required for one arm.
virtual void finalize()
Finalize the thread.
Thread aspect to access configuration data.
virtual void run()
Stub to see name in backtrace for easier debugging.
JacoBimanualGotoThread(fawkes::jaco_dual_arm_t *arms)
Constructor.
virtual void stop()
Stops the current movement.