Fawkes API  Fawkes Development Version
motion_thread.h
1 
2 /***************************************************************************
3  * motion_thread.h - Katana one-time thread interface for motions
4  *
5  * Created: Wed Jun 10 11:20:18 2009
6  * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
7  * 2012-2014 Bahram Maleki-Fard
8  *
9  ****************************************************************************/
10 
11 /* This program is free software; you can redistribute it and/or modify
12  * it under the terms of the GNU General Public License as published by
13  * the Free Software Foundation; either version 2 of the License, or
14  * (at your option) any later version.
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL file in the doc directory.
22  */
23 
24 #ifndef __PLUGINS_KATANA_MOTION_THREAD_H_
25 #define __PLUGINS_KATANA_MOTION_THREAD_H_
26 
27 #include <core/threading/thread.h>
28 #include <logging/logger.h>
29 #include <core/utils/refptr.h>
30 
31 namespace fawkes {
32  class KatanaController;
33 }
34 
36 : public fawkes::Thread
37 {
38  public:
39  KatanaMotionThread(const char *thread_name,
41 
42  bool finished() const;
43  virtual void reset();
44  unsigned int error_code() const;
45 
46  protected:
47  /** Katana object for interaction with the arm */
49  /** Set to true when motion is finished, to false on reset */
50  bool _finished;
51  /** Logger */
53  /** Set to the desired error code on error */
54  unsigned int _error_code;
55 
56 };
57 
58 
59 #endif
Fawkes library namespace.
fawkes::RefPtr< fawkes::KatanaController > _katana
Katana object for interaction with the arm.
Definition: motion_thread.h:48
fawkes::Logger * _logger
Logger.
Definition: motion_thread.h:52
Katana motion thread base class.
Definition: motion_thread.h:35
Thread class encapsulation of pthreads.
Definition: thread.h:42
bool _finished
Set to true when motion is finished, to false on reset.
Definition: motion_thread.h:50
unsigned int _error_code
Set to the desired error code on error.
Definition: motion_thread.h:54
Interface for logging.
Definition: logger.h:34