Fawkes API  Fawkes Development Version
katana_plugin.cpp
1 
2 /***************************************************************************
3  * katana_plugin.cpp - Plugin to drive Neuronics' Katana arm
4  *
5  * Created: Mon Jun 08 17:57:16 2009
6  * Copyright 2006-2008 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 #include "katana_plugin.h"
24 #include "act_thread.h"
25 #include "sensor_thread.h"
26 
27 using namespace fawkes;
28 
29 /** @class KatanaPlugin "katana_plugin.h"
30  * Plugin to drive Neuronics' Katana arm with Fawkes.
31  * This plugin integrates Neuronics' KNI library to control a Katana arm.
32  * @author Tim Niemueller
33  */
34 
35 /** Constructor.
36  * @param config Fawkes configuration
37  */
39  : Plugin(config)
40 {
41  KatanaActThread *act_thread = new KatanaActThread();
42  thread_list.push_back(act_thread);
43  thread_list.push_back(new KatanaSensorThread(act_thread));
44 }
45 
46 
47 PLUGIN_DESCRIPTION("Run Neuronics' Katana arm with Fawkes.")
48 EXPORT_PLUGIN(KatanaPlugin)
Katana sensor thread.
Definition: sensor_thread.h:41
Plugin interface class.
Definition: plugin.h:33
Fawkes library namespace.
Katana act thread.
Definition: act_thread.h:61
ThreadList thread_list
Thread list member.
Definition: plugin.h:53
void push_back(Thread *thread)
Add thread to the end.
Plugin to drive Neuronics' Katana arm with Fawkes.
Definition: katana_plugin.h:28
Interface for configuration handling.
Definition: config.h:67
KatanaPlugin(fawkes::Configuration *config)
Constructor.