Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_JACO_OPENRAVE_BASE_THREAD_H_
24 #define _PLUGINS_JACO_OPENRAVE_BASE_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <core/threading/thread.h>
31 # include <plugins/openrave/aspect/openrave.h>
36 #include <core/utils/refptr.h>
51 } jaco_openrave_set_t;
112 fawkes::jaco_openrave_set_t viewer_env_;
114 bool cfg_OR_use_viewer_;
115 std::string cfg_OR_robot_file_;
116 bool cfg_OR_auto_load_ik_;
117 float cfg_OR_sampling_;
118 bool cfg_OR_plot_traj_manip_;
119 bool cfg_OR_plot_traj_joints_;
120 bool cfg_OR_plot_cur_manip_;
121 bool cfg_OR_plot_cur_joints_;
123 std::string plannerparams_;
RefPtr< OpenRaveManipulator > OpenRaveManipulatorPtr
RefPtr to OpenRaveManipulator.
virtual void finalize()
Finalize the thread.
Mutex mutual exclusion lock.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void update_openrave()=0
Update the openrave environment to represent the current situation.
const char * name() const
Get name of thread.
virtual void _load_robot()
Use this in inheriting classes to load the OpenRaveRobot.
virtual ~JacoOpenraveBaseThread()
Destructor.
Base Jaco Arm thread, integrating OpenRAVE.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
RefPtr< OpenRaveRobot > OpenRaveRobotPtr
RefPtr to OpenRaveRobot.
virtual void plot_current(bool enable)
Enable/Disable plotting of the current arm position.
fawkes::Mutex * planning_mutex_
mutex, used to lock when planning.
virtual void _post_init()
Use this in inheriting classes for post_init stuff, e.g.
Thread class encapsulation of pthreads.
virtual void set_plannerparams(const std::string ¶ms)
Set planner parameters.
JacoOpenraveBaseThread(const char *name)
Constructor.
RefPtr< OpenRaveEnvironment > OpenRaveEnvironmentPtr
RefPtr to OpenRaveEnvironment.
Thread aspect to access configuration data.
Thread aspect create, update, and graph round-robin databases (RRD).
virtual void plot_first()=0
Plot the first target of the target_queue, if it is a trajectory.
virtual void _init()
Use this in inheriting classes for additiona initializations.