Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_JACO_BIMANUAL_ACT_THREAD_H_
24 #define _PLUGINS_JACO_BIMANUAL_ACT_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
Jaco Arm act-thread for coordinate bimanual manipulation.
virtual void init()
Initialize.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
virtual void loop()
Main loop.
Jaco struct containing all components required for a dual-arm setup.
virtual ~JacoBimanualActThread()
Destructor.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
JacoBimanualActThread(fawkes::jaco_dual_arm_t *arms)
Constructor.
Thread class encapsulation of pthreads.
virtual void finalize()
Finalize.
Thread aspect to access configuration data.