Fawkes API  Fawkes Development Version
goto_thread.h
1 
2 /***************************************************************************
3  * goto_thread.h - Katana goto one-time thread
4  *
5  * Created: Wed Jun 10 11:44:24 2009
6  * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_KATANA_GOTO_THREAD_H_
24 #define __PLUGINS_KATANA_GOTO_THREAD_H_
25 
26 #include "motion_thread.h"
27 
28 #include <string>
29 
31 {
32  public:
34  unsigned int poll_interval_ms);
35 
36  virtual void set_target(float x, float y, float z, float phi, float theta, float psi);
37 
38  virtual void once();
39 
40  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
41  private:
42  virtual void run() { Thread::run(); }
43 
44  float __x, __y, __z;
45  float __phi, __theta, __psi;
46  unsigned int __poll_interval_usec;
47 };
48 
49 
50 #endif
Katana motion thread base class.
Definition: motion_thread.h:35
virtual void set_target(float x, float y, float z, float phi, float theta, float psi)
Set target position.
Definition: goto_thread.cpp:63
virtual void once()
Execute an action exactly once.
Definition: goto_thread.cpp:75
Katana linear goto thread.
Definition: goto_thread.h:30
KatanaGotoThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
Definition: goto_thread.cpp:45
Interface for logging.
Definition: logger.h:34