Fawkes API
Fawkes Development Version
|
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_;
void update_sensor_values()
Update sensor values as necessary.
virtual void init()
Initialize the thread.
class KatanaGotoOpenRaveThread
virtual void run()
Stub to see name in backtrace for easier debugging.
Katana motion thread base class.
virtual void loop()
Code to execute in the thread.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
BlackBoard interface listener.
virtual void finalize()
Finalize the thread.
Thread aspect to use blocked timing.
Katana motor control thread.
Katana linear goto thread.
KatanaActThread()
Constructor.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
KatanaInterface Fawkes BlackBoard Interface.
Base class for all Fawkes BlackBoard interfaces.
A class for handling time.
Katana sensor acquisition thread.
virtual bool bb_interface_message_received(fawkes::Interface *interface, fawkes::Message *message)
BlackBoard message received notification.
Thread class encapsulation of pthreads.
Katana calibration thread.
Thread aspect to access configuration data.
virtual void once()
Execute an action exactly once.
Thread aspect that allows to obtain the current time from the clock.
Thread aspect create, update, and graph round-robin databases (RRD).
~KatanaActThread()
Destructor.