Fawkes API
Fawkes Development Version
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23 #include "jaco_plugin.h"
25 #include "act_thread.h"
26 #include "bimanual_act_thread.h"
27 #include "bimanual_goto_thread.h"
28 #include "bimanual_openrave_thread.h"
29 #include "goto_thread.h"
30 #include "info_thread.h"
31 #include "openrave_thread.h"
48 bool is_dual_arm =
config->
get_bool(
"/hardware/jaco/config/dual_arm");
96 openrave_thread_l = NULL;
97 openrave_thread_r = NULL;
140 PLUGIN_DESCRIPTION(
"Jaco Plugin")
JacoGotoThread * goto_thread
the GotoThread of this arm.
Configuration * config
Fawkes configuration.
ThreadList thread_list
Thread list member.
jaco_arm_t * right
the struct with all the data for the right arm.
Jaco Arm information thread.
void push_back(Thread *thread)
Add thread to the end.
Jaco Arm movement thread.
Jaco Arm act-thread for coordinate bimanual manipulation.
JacoPlugin(fawkes::Configuration *config)
Constructor.
virtual bool get_bool(const char *path)=0
Get value from configuration which is of type bool.
@ CONFIG_SINGLE
we only have one arm.
@ CONFIG_RIGHT
this arm is the right one out of two.
Interface for configuration handling.
JacoOpenraveThread * openrave_thread
the OpenraveThread of this arm.
@ CONFIG_LEFT
this arm is the left one out of two.
Jaco struct containing all components required for a dual-arm setup.
Jaco Arm movement thread.
Fawkes library namespace.
jaco_arm_t * left
the struct with all the data for the left arm.
JacoBimanualOpenraveThread * openrave_thread
OpenraveThread for coordinated manipulation.
Jaco Arm thread for single-arm setup, integrating OpenRAVE.
Jaco Arm thread for dual-arm setup, integrating OpenRAVE.
Jaco struct containing all components required for one arm.
JacoBimanualGotoThread * goto_thread
GotoThread for coordinated manipulation.
jaco_arm_config_t config
configuration for this arm