Fawkes API
Fawkes Development Version
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24 #ifndef _PLUGINS_KATANA_MOTION_THREAD_H_
25 #define _PLUGINS_KATANA_MOTION_THREAD_H_
27 #include <core/threading/thread.h>
28 #include <core/utils/refptr.h>
29 #include <logging/logger.h>
32 class KatanaController;
fawkes::Logger * _logger
Logger.
unsigned int error_code() const
Error code.
Katana motion thread base class.
bool _finished
Set to true when motion is finished, to false on reset.
unsigned int _error_code
Set to the desired error code on error.
fawkes::RefPtr< fawkes::KatanaController > _katana
Katana object for interaction with the arm.
Fawkes library namespace.
KatanaMotionThread(const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
Constructor.
Thread class encapsulation of pthreads.
bool finished() const
Did the motion finish already?
virtual void reset()
Reset for next execution.