Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_JACO_GOTO_THREAD_H_
24 #define _PLUGINS_JACO_GOTO_THREAD_H_
28 #include <aspect/blackboard.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <core/threading/thread.h>
96 float finger_last_[4];
100 unsigned int wait_status_check_;
virtual void move_gripper(float f1, float f2, float f3)
Moves only the gripper.
virtual void set_target_ang(float j1, float j2, float j3, float j4, float j5, float j6, float f1=0.f, float f2=0.f, float f3=0.f)
Set new target, given joint positions This target is added to the queue, skipping trajectory planning...
Mutex mutual exclusion lock.
virtual void stop()
Stops the current movement.
Jaco Arm movement thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
RefPtr<> is a reference-counting shared smartpointer.
virtual void init()
Initialize.
const char * name() const
Get name of thread.
virtual void pos_ready()
Moves the arm to the "READY" position.
virtual void set_target(float x, float y, float z, float e1, float e2, float e3, float f1=0.f, float f2=0.f, float f3=0.f)
Set new target, given cartesian coordinates.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
virtual void finalize()
Finalize.
std::vector< jaco_trajec_point_t > jaco_trajec_t
A trajectory.
virtual void pos_retract()
Moves the arm to the "RETRACT" position.
JacoGotoThread(const char *name, fawkes::jaco_arm_t *arm)
Constructor.
virtual ~JacoGotoThread()
Destructor.
Thread class encapsulation of pthreads.
Jaco struct containing all components required for one arm.
Thread aspect to access configuration data.
virtual void loop()
The main loop of this thread.