Fawkes API
Fawkes Development Version
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23 #include "info_thread.h"
28 #include <interfaces/JacoInterface.h>
69 if (arm_ == NULL || arm_->
arm == NULL || arm_->
iface == NULL)
91 for (
unsigned int i = 0; i < apos_.size(); i++) {
void set_finger1(const float new_finger1)
Set finger1 value.
bool is_final() const
Get final value.
void set_x(const float new_x)
Set x value.
void set_connected(const bool new_connected)
Set connected value.
void set_y(const float new_y)
Set y value.
Thread aspect to use blocked timing.
const char * name() const
Get name of thread.
JacoInterface * iface
pointer to JacoInterface, assigned to this arm
virtual void get_coords(std::vector< float > &to)=0
Get the cartesian coordinates of the arm.
Logger * logger
This is the Logger member used to access the logger.
void set_euler3(const float new_euler3)
Set euler3 value.
Fawkes library namespace.
fawkes::JacoArm * arm
pointer to actual JacoArm instance, controlling this arm
void set_joints(unsigned int index, const float new_joints)
Set joints value at given index.
virtual ~JacoInfoThread()
Destructor.
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
void set_z(const float new_z)
Set z value.
void set_euler1(const float new_euler1)
Set euler1 value.
virtual void finalize()
Finalize the thread.
void set_finger2(const float new_finger2)
Set finger2 value.
virtual void get_joints(std::vector< float > &to) const =0
Get the joint angles of the arm.
JacoInfoThread(const char *name, fawkes::jaco_arm_t *arm)
Constructor.
virtual const char * what() const
Get primary string.
virtual void init()
Initialize the thread.
Thread class encapsulation of pthreads.
virtual void loop()
Code to execute in the thread.
Jaco struct containing all components required for one arm.
void set_euler2(const float new_euler2)
Set euler2 value.
void set_finger3(const float new_finger3)
Set finger3 value.
virtual void get_fingers(std::vector< float > &to) const =0
Get the position values of the fingers.
Base class for exceptions in Fawkes.