24 #ifndef __PLUGINS_JACO_TYPES_H_ 25 #define __PLUGINS_JACO_TYPES_H_ 27 #include <core/utils/refptr.h> 108 float trajec_color[4];
trajectory has been planned and is ready for execution.
JacoGotoThread * goto_thread
the GotoThread of this arm.
Jaco struct containing all components required for one arm.
Jaco Arm thread for dual-arm setup, integrating OpenRAVE.
JacoBimanualGotoThread * goto_thread
GotoThread for coordinated manipulation.
Jaco Arm movement thread.
JacoBimanualInterface * iface
interface used for coordinated manipulation.
Fawkes library namespace.
enum fawkes::jaco_trajec_state_enum jaco_trajec_state_t
The state of a trajectory.
fawkes::RefPtr< jaco_trajec_t > trajec
trajectory, if target is TARGET_TRAJEC.
fawkes::JacoArm * arm
pointer to actual JacoArm instance, controlling this arm
JacoBimanualInterface Fawkes BlackBoard Interface.
jaco_target_type_enum
The type of a target.
std::list< RefPtr< jaco_target_t > > jaco_target_queue_t
FIFO target queue, holding RefPtr to targets.
RefPtr< Mutex > trajec_mutex
mutex, used for modifying trajectory of a target.
trajectory is being executed.
std::vector< jaco_trajec_point_t > jaco_trajec_t
A trajectory.
enum fawkes::jaco_target_type_enum jaco_target_type_t
The type of a target.
jaco_trajec_state_enum
The state of a trajectory.
jaco_target_type_t type
target type.
planner could not plan a collision-free trajectory.
jaco_arm_t * left
the struct with all the data for the left arm.
JacoBimanualOpenraveThread * openrave_thread
OpenraveThread for coordinated manipulation.
jaco_arm_t * right
the struct with all the data for the right arm.
jaco_trajec_point_t pos
target position (interpreted depending on target type).
jaco_trajec_state_t trajec_state
state of the trajectory, if target is TARGET_TRAJEC.
std::vector< float > jaco_trajec_point_t
A trajectory point.
this arm is the right one out of two.
JacoInterface * iface
pointer to JacoInterface, assigned to this arm
JacoOpenraveThread * openrave_thread
the OpenraveThread of this arm.
RefPtr< Mutex > target_mutex
mutex, used for accessing the target_queue
target with cartesian coordinates.
Jaco target struct, holding information on a target.
target with angular coordinates.
jaco_arm_config_t config
configuration for this arm
planner is planning the trajectory.
bool coord
this target needs to be coordinated with targets of other arms.
jaco_arm_config_enum
The setup-configuration of the arm.
RefPtr< jaco_target_queue_t > target_queue
queue of targets, which is processed FIFO.
Jaco Arm movement thread.
planner could not find IK solution for target
this arm is the left one out of two.
JacoInterface Fawkes BlackBoard Interface.
skip trajectory planning for this target.
new trajectory target, wait for planner to process.
enum fawkes::jaco_arm_config_enum jaco_arm_config_t
The setup-configuration of the arm.
Jaco Arm thread for single-arm setup, integrating OpenRAVE.
Jaco struct containing all components required for a dual-arm setup.
target is the RETRACT position of the Jaco arm.
target is the READY position of the Jaco arm.
struct fawkes::jaco_target_struct_t jaco_target_t
Jaco target struct, holding information on a target.
jaco_trajec_point_t fingers
target finger values.
struct jaco_arm_struct jaco_arm_t
Jaco struct containing all components required for one arm.
struct jaco_dual_arm_struct jaco_dual_arm_t
Jaco struct containing all components required for a dual-arm setup.
Abstract class for a Kinova Jaco Arm that we want to control.