Fawkes API  Fawkes Development Version
JacoBimanualOpenraveThread Class Reference

Jaco Arm thread for dual-arm setup, integrating OpenRAVE. More...

#include "bimanual_openrave_thread.h"

Inheritance diagram for JacoBimanualOpenraveThread:

Public Member Functions

 JacoBimanualOpenraveThread (fawkes::jaco_dual_arm_t *arms)
 Constructor. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
virtual void finalize ()
 Finalize the thread. More...
 
virtual void update_openrave ()
 Update the openrave environment to represent the current situation. More...
 
virtual void plot_first ()
 Plot the first target of the target_queue, if it is a trajectory. More...
 
virtual bool add_target (float l_x, float l_y, float l_z, float l_e1, float l_e2, float l_e3, float r_x, float r_y, float r_z, float r_e1, float r_e2, float r_e3)
 Add target for coordinated manipulation to the queue. More...
 
virtual void set_constrained (bool enable)
 Enable/Disable constrained planning. More...
 
- Public Member Functions inherited from JacoOpenraveBaseThread
 JacoOpenraveBaseThread (const char *name)
 Constructor. More...
 
virtual ~JacoOpenraveBaseThread ()
 Destructor. More...
 
void init ()
 Initializer. More...
 
virtual void set_plannerparams (const std::string &params)
 Set planner parameters. More...
 
virtual void set_plannerparams (const char *params)
 Set planner parameters. More...
 
virtual void plot_current (bool enable)
 Enable/Disable plotting of the current arm position. More...
 
- Public Member Functions inherited from fawkes::Thread
virtual ~Thread ()
 Virtual destructor. More...
 
bool prepare_finalize ()
 Prepare finalization. More...
 
virtual bool prepare_finalize_user ()
 Prepare finalization user implementation. More...
 
void cancel_finalize ()
 Cancel finalization. More...
 
void start (bool wait=true)
 Call this method to start the thread. More...
 
void cancel ()
 Cancel a thread. More...
 
void join ()
 Join the thread. More...
 
void detach ()
 Detach the thread. More...
 
void kill (int sig)
 Send signal to a thread. More...
 
bool operator== (const Thread &thread)
 Check if two threads are the same. More...
 
void wakeup ()
 Wake up thread. More...
 
void wakeup (Barrier *barrier)
 Wake up thread and wait for barrier afterwards. More...
 
void wait_loop_done ()
 Wait for the current loop iteration to finish. More...
 
OpMode opmode () const
 Get operation mode. More...
 
pthread_t thread_id () const
 Get ID of thread. More...
 
bool started () const
 Check if thread has been started. More...
 
bool cancelled () const
 Check if thread has been cancelled. More...
 
bool detached () const
 Check if thread has been detached. More...
 
bool running () const
 Check if the thread is running. More...
 
bool waiting () const
 Check if thread is currently waiting for wakeup. More...
 
const char * name () const
 Get name of thread. More...
 
void set_flags (uint32_t flags)
 Set all flags in one go. More...
 
void set_flag (uint32_t flag)
 Set flag for the thread. More...
 
void unset_flag (uint32_t flag)
 Unset flag. More...
 
bool flagged_bad () const
 Check if FLAG_BAD was set. More...
 
void set_delete_on_exit (bool del)
 Set whether the thread should be deleted on exit. More...
 
void set_prepfin_hold (bool hold)
 Hold prepare_finalize(). More...
 
void add_notification_listener (ThreadNotificationListener *notification_listener)
 Add notification listener. More...
 
void remove_notification_listener (ThreadNotificationListener *notification_listener)
 Remove notification listener. More...
 
void notify_of_failed_init ()
 Notify of failed init. More...
 
- Public Member Functions inherited from fawkes::LoggingAspect
 LoggingAspect ()
 Constructor. More...
 
virtual ~LoggingAspect ()
 Virtual empty Destructor. More...
 
void init_LoggingAspect (Logger *logger)
 Set the logger. More...
 
- Public Member Functions inherited from fawkes::Aspect
const std::list< const char * > & get_aspects () const
 Get list of aspect names attached to a aspected thread. More...
 
- Public Member Functions inherited from fawkes::ConfigurableAspect
 ConfigurableAspect ()
 Constructor. More...
 
virtual ~ConfigurableAspect ()
 Virtual empty Destructor. More...
 
void init_ConfigurableAspect (Configuration *config)
 Set the configuration It is guaranteed that this is called for a configurable thread before Thread::start() is called (when running regularly inside Fawkes). More...
 
- Public Member Functions inherited from fawkes::BlackBoardAspect
 BlackBoardAspect (const char *owner=NULL)
 Constructor. More...
 
virtual ~BlackBoardAspect ()
 Virtual empty destructor. More...
 
void init_BlackBoardAspect (BlackBoard *bb)
 Init BlackBoard aspect. More...
 

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging. More...
 
- Protected Member Functions inherited from JacoOpenraveBaseThread
virtual void _post_init ()
 Use this in inheriting classes for post_init stuff, e.g. More...
 
- Protected Member Functions inherited from fawkes::Thread
 Thread (const char *name)
 Constructor. More...
 
 Thread (const char *name, OpMode op_mode)
 Constructor. More...
 
void exit ()
 Exit the thread. More...
 
void test_cancel ()
 Set cancellation point. More...
 
void yield ()
 Yield the processor to another thread or process. More...
 
void set_opmode (OpMode op_mode)
 Set operation mode. More...
 
void set_prepfin_conc_loop (bool concurrent=true)
 Set concurrent execution of prepare_finalize() and loop(). More...
 
void set_coalesce_wakeups (bool coalesce=true)
 Set wakeup coalescing. More...
 
void set_name (const char *format,...)
 Set name of thread. More...
 
virtual void once ()
 Execute an action exactly once. More...
 
bool wakeup_pending ()
 Check if wakeups are pending. More...
 
- Protected Member Functions inherited from fawkes::Aspect
void add_aspect (const char *name)
 Add an aspect to a thread. More...
 

Additional Inherited Members

- Public Types inherited from fawkes::Thread
enum  OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP }
 Thread operation mode. More...
 
enum  CancelState { CANCEL_ENABLED, CANCEL_DISABLED }
 Cancel state. More...
 
- Static Public Member Functions inherited from fawkes::Thread
static Threadcurrent_thread ()
 Get the Thread instance of the currently running thread. More...
 
static Threadcurrent_thread_noexc () throw ()
 Similar to current_thread, but does never throw an exception. More...
 
static pthread_t current_thread_id ()
 Get the ID of the currently running thread. More...
 
static void init_main ()
 Initialize Thread wrapper instance for main thread. More...
 
static void destroy_main ()
 Destroy main thread wrapper instance. More...
 
static void set_cancel_state (CancelState new_state, CancelState *old_state=0)
 Set the cancel state of the current thread. More...
 
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad". More...
 
- Protected Attributes inherited from JacoOpenraveBaseThread
fawkes::Mutex__planning_mutex
 mutex, used to lock when planning. More...
 
- Protected Attributes inherited from fawkes::Thread
bool finalize_prepared
 True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More...
 
Mutexloop_mutex
 Mutex that is used to protect a call to loop(). More...
 
Mutexloopinterrupt_antistarve_mutex
 Mutex to avoid starvation when trying to lock loop_mutex. More...
 
- Protected Attributes inherited from fawkes::LoggingAspect
Loggerlogger
 This is the Logger member used to access the logger. More...
 
- Protected Attributes inherited from fawkes::ConfigurableAspect
Configurationconfig
 This is the Configuration member used to access the configuration. More...
 
- Protected Attributes inherited from fawkes::BlackBoardAspect
BlackBoardblackboard
 This is the BlackBoard instance you can use to interact with the BlackBoard. More...
 

Detailed Description

Jaco Arm thread for dual-arm setup, integrating OpenRAVE.

Author
Bahram Maleki-Fard

Definition at line 34 of file bimanual_openrave_thread.h.

Constructor & Destructor Documentation

◆ JacoBimanualOpenraveThread()

JacoBimanualOpenraveThread::JacoBimanualOpenraveThread ( fawkes::jaco_dual_arm_t arms)

Member Function Documentation

◆ add_target()

bool JacoBimanualOpenraveThread::add_target ( float  l_x,
float  l_y,
float  l_z,
float  l_e1,
float  l_e2,
float  l_e3,
float  r_x,
float  r_y,
float  r_z,
float  r_e1,
float  r_e2,
float  r_e3 
)
virtual

Add target for coordinated manipulation to the queue.

This adds targets to the queues for both left and right arms. It sets the target->coord flag to "true", which means it will not be processed by the threads for uncoordinated manipulation!

Parameters
l_xx-coordinate of target position of left arm
l_yy-coordinate of target position of left arm
l_zz-coordinate of target position of left arm
l_e11st euler rotation of target orientation of left arm
l_e22nd euler rotation of target orientation of left arm
l_e33rd euler rotation of target orientation of left arm
r_xx-coordinate of target position of right arm
r_yy-coordinate of target position of right arm
r_zz-coordinate of target position of right arm
r_e11st euler rotation of target orientation of right arm
r_e22nd euler rotation of target orientation of right arm
r_e33rd euler rotation of target orientation of right arm
Returns
"true", if target could be added to queue.

Definition at line 311 of file bimanual_openrave_thread.cpp.

References fawkes::jaco_target_struct_t::coord, fawkes::jaco_target_struct_t::pos, fawkes::TARGET_CARTESIAN, fawkes::jaco_target_struct_t::trajec_state, fawkes::TRAJEC_WAITING, and fawkes::jaco_target_struct_t::type.

Referenced by JacoBimanualActThread::loop().

◆ finalize()

void JacoBimanualOpenraveThread::finalize ( )
virtual

Finalize the thread.

This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.

This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.

This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.

Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).

The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.

Exceptions
Exceptionthrown if prepare_finalize() has not been called.
See also
prepare_finalize()
cancel_finalize()

Reimplemented from JacoOpenraveBaseThread.

Definition at line 199 of file bimanual_openrave_thread.cpp.

References JacoOpenraveBaseThread::finalize().

Referenced by JacoBimanualOpenraveThread().

◆ loop()

void JacoBimanualOpenraveThread::loop ( )
virtual

Code to execute in the thread.

Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().

Reimplemented from fawkes::Thread.

Definition at line 216 of file bimanual_openrave_thread.cpp.

References fawkes::TARGET_ANGULAR, fawkes::TRAJEC_IK_ERROR, and fawkes::TRAJEC_WAITING.

◆ plot_first()

void JacoBimanualOpenraveThread::plot_first ( )
virtual

◆ run()

virtual void JacoBimanualOpenraveThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from JacoOpenraveBaseThread.

Definition at line 52 of file bimanual_openrave_thread.h.

◆ set_constrained()

void JacoBimanualOpenraveThread::set_constrained ( bool  enable)
virtual

Enable/Disable constrained planning.

Enabling it will constrain the movement, which means it is tried to maintain the distance of the grippers to each other. This should be activated when moving an object with both hands, but disabled in situations when the arms do not need to hold the object simultaneously at all times.

Parameters
enableEnables/Disables the state.

Definition at line 285 of file bimanual_openrave_thread.cpp.

Referenced by JacoBimanualActThread::loop().

◆ update_openrave()

void JacoBimanualOpenraveThread::update_openrave ( )
virtual

Update the openrave environment to represent the current situation.

This includes updating the model and plotting current positions.

Implements JacoOpenraveBaseThread.

Definition at line 353 of file bimanual_openrave_thread.cpp.


The documentation for this class was generated from the following files: