Fawkes API  Fawkes Development Version
fawkes::jaco_arm_struct Struct Reference

Jaco struct containing all components required for one arm. More...

#include <types.h>

Public Attributes

jaco_arm_config_t config
 configuration for this arm More...
 
fawkes::JacoArmarm
 pointer to actual JacoArm instance, controlling this arm More...
 
JacoInterfaceiface
 pointer to JacoInterface, assigned to this arm More...
 
JacoGotoThreadgoto_thread
 the GotoThread of this arm. More...
 
JacoOpenraveThreadopenrave_thread
 the OpenraveThread of this arm. More...
 
RefPtr< Mutextarget_mutex
 mutex, used for accessing the target_queue More...
 
RefPtr< Mutextrajec_mutex
 mutex, used for modifying trajectory of a target. More...
 
RefPtr< jaco_target_queue_ttarget_queue
 queue of targets, which is processed FIFO. More...
 
float trajec_color [4]
 the color used for plotting the trajectory. More...
 

Detailed Description

Jaco struct containing all components required for one arm.

Definition at line 95 of file types.h.

Member Data Documentation

◆ arm

◆ config

jaco_arm_config_t fawkes::jaco_arm_struct::config

configuration for this arm

Definition at line 96 of file types.h.

Referenced by JacoActThread::init(), JacoOpenraveThread::JacoOpenraveThread(), and JacoPlugin::JacoPlugin().

◆ goto_thread

JacoGotoThread* fawkes::jaco_arm_struct::goto_thread

the GotoThread of this arm.

Definition at line 100 of file types.h.

Referenced by JacoActThread::JacoActThread(), JacoPlugin::JacoPlugin(), and JacoActThread::loop().

◆ iface

◆ openrave_thread

JacoOpenraveThread* fawkes::jaco_arm_struct::openrave_thread

the OpenraveThread of this arm.

Definition at line 101 of file types.h.

Referenced by JacoGotoThread::final(), JacoActThread::JacoActThread(), JacoPlugin::JacoPlugin(), JacoActThread::loop(), and JacoGotoThread::loop().

◆ target_mutex

◆ target_queue

◆ trajec_color

float fawkes::jaco_arm_struct::trajec_color[4]

the color used for plotting the trajectory.

RGBA values, each from 0-1.

Definition at line 108 of file types.h.

Referenced by JacoActThread::init(), and JacoOpenraveThread::plot_first().

◆ trajec_mutex

RefPtr< Mutex > fawkes::jaco_arm_struct::trajec_mutex

mutex, used for modifying trajectory of a target.

Only locked shortly.

Definition at line 104 of file types.h.

Referenced by JacoActThread::init(), JacoOpenraveThread::plot_first(), and JacoOpenraveThread::set_target_ang().


The documentation for this struct was generated from the following file: