Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_JACO_OPENRAVE_THREAD_H_
24 #define _PLUGINS_JACO_OPENRAVE_THREAD_H_
26 #include "openrave_base_thread.h"
29 # include <openrave/openrave.h>
30 # include <plugins/openrave/aspect/openrave.h>
48 add_target(
float x,
float y,
float z,
float e1,
float e2,
float e3,
bool plan =
true);
50 add_target_ang(
float j1,
float j2,
float j3,
float j4,
float j5,
float j6,
bool plan =
true);
52 set_target(
float x,
float y,
float z,
float e1,
float e2,
float e3,
bool plan =
true);
54 set_target_ang(
float j1,
float j2,
float j3,
float j4,
float j5,
float j6,
bool plan =
true);
74 std::string cfg_manipname_;
78 fawkes::jaco_openrave_set_t planner_env_;
80 OpenRAVE::RobotBasePtr robot_;
81 OpenRAVE::RobotBase::ManipulatorPtr manip_;
82 std::vector<OpenRAVE::dReal> joints_;
84 std::vector<OpenRAVE::GraphHandlePtr> graph_handle_;
85 std::vector<OpenRAVE::GraphHandlePtr> graph_current_;
87 std::vector<OpenRAVE::KinBody::LinkPtr> links_;
89 bool plotted_current_;
RefPtr<> is a reference-counting shared smartpointer.
virtual bool set_target(float x, float y, float z, float e1, float e2, float e3, bool plan=true)
Flush the target_queue and add this one.
virtual bool add_target(float x, float y, float z, float e1, float e2, float e3, bool plan=true)
Solve IK and add target to the queue.
virtual bool set_target_ang(float j1, float j2, float j3, float j4, float j5, float j6, bool plan=true)
Flush the target_queue and add this one.
virtual bool add_target_ang(float j1, float j2, float j3, float j4, float j5, float j6, bool plan=true)
Add target joint values to the queue.
const char * name() const
Get name of thread.
Base Jaco Arm thread, integrating OpenRAVE.
virtual void plot_first()
Plot the first target of the queue in the viewer_env.
virtual void update_openrave()
Update the openrave environment to represent the current situation.
Jaco Arm thread for single-arm setup, integrating OpenRAVE.
virtual void loop()
Mani loop.
Jaco struct containing all components required for one arm.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
JacoOpenraveThread(const char *name, fawkes::jaco_arm_t *arm, bool load_robot=true)
Constructor.