Fawkes API
Fawkes Development Version
goto_thread.h
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/***************************************************************************
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* goto_thread.h - Katana goto one-time thread
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*
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* Created: Wed Jun 10 11:44:24 2009
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* Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_KATANA_GOTO_THREAD_H_
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#define _PLUGINS_KATANA_GOTO_THREAD_H_
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#include "motion_thread.h"
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#include <string>
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class
KatanaGotoThread
:
public
KatanaMotionThread
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{
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public
:
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KatanaGotoThread
(
fawkes::RefPtr<fawkes::KatanaController>
katana,
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fawkes::Logger
* logger,
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unsigned
int
poll_interval_ms);
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virtual
void
set_target
(
float
x,
float
y,
float
z,
float
phi,
float
theta,
float
psi);
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virtual
void
once
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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private
:
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virtual
void
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run()
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{
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Thread::run();
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}
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float
x_, y_, z_;
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float
phi_, theta_, psi_;
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unsigned
int
poll_interval_usec_;
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};
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#endif
KatanaMotionThread
Katana motion thread base class.
Definition:
motion_thread.h:36
fawkes::RefPtr< fawkes::KatanaController >
KatanaGotoThread
Katana linear goto thread.
Definition:
goto_thread.h:31
fawkes::Logger
Interface for logging.
Definition:
logger.h:42
KatanaGotoThread::KatanaGotoThread
KatanaGotoThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
Definition:
goto_thread.cpp:46
KatanaGotoThread::set_target
virtual void set_target(float x, float y, float z, float phi, float theta, float psi)
Set target position.
Definition:
goto_thread.cpp:63
KatanaGotoThread::once
virtual void once()
Execute an action exactly once.
Definition:
goto_thread.cpp:74
src
plugins
katana
goto_thread.h
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