24 #ifndef __PLUGINS_KATANA_ACT_THREAD_H_ 25 #define __PLUGINS_KATANA_ACT_THREAD_H_ 27 #include <core/threading/thread.h> 28 #include <aspect/clock.h> 29 #include <aspect/blocked_timing.h> 30 #include <aspect/logging.h> 31 #include <aspect/configurable.h> 32 #include <aspect/blackboard.h> 33 #include <aspect/tf.h> 35 # include <plugins/openrave/aspect/openrave.h> 37 #include <blackboard/interface_listener.h> 38 #include <core/utils/refptr.h> 39 #ifdef USE_TIMETRACKER 40 # include <utils/time/tracker.h> 47 class KatanaInterface;
50 class KatanaController;
79 virtual void finalize();
87 void update_sensor_values();
94 void update_position(
bool refresh);
95 void update_sensors(
bool refresh);
96 void update_motors(
bool refresh);
98 unsigned int msgid,
const char *logmsg, ...);
102 std::vector<fawkes::JointInterface*> *__joint_ifs;
104 std::string __cfg_controller;
105 std::string __cfg_device;
106 std::string __cfg_kni_conffile;
107 bool __cfg_auto_calibrate;
108 unsigned int __cfg_defmax_speed;
109 unsigned int __cfg_read_timeout;
110 unsigned int __cfg_write_timeout;
111 unsigned int __cfg_gripper_pollint;
112 unsigned int __cfg_goto_pollint;
116 float __cfg_park_phi;
117 float __cfg_park_theta;
118 float __cfg_park_psi;
120 float __cfg_distance_scale;
122 float __cfg_update_interval;
124 std::string __cfg_frame_kni;
125 std::string __cfg_frame_gripper;
126 std::string __cfg_frame_openrave;
128 bool __cfg_OR_enabled;
130 bool __cfg_OR_use_viewer;
131 bool __cfg_OR_auto_load_ik;
132 std::string __cfg_OR_robot_file;
133 std::string __cfg_OR_arm_model;
150 #ifdef USE_TIMETRACKER 152 unsigned int __tt_count;
153 unsigned int __ttc_read_sensor;
Thread aspect to access to BlackBoard.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
Fawkes library namespace.
Katana motor control thread.
virtual void run()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
A class for handling time.
Katana motion thread base class.
Thread class encapsulation of pthreads.
Base class for all Fawkes BlackBoard interfaces.
Thread aspect create, update, and graph round-robin databases (RRD).
Thread aspect to use blocked timing.
KatanaInterface Fawkes BlackBoard Interface.
Thread aspect to log output.
Katana sensor acquisition thread.
class KatanaGotoOpenRaveThread
Thread aspect to access configuration data.
Katana linear goto thread.
Katana calibration thread.
BlackBoard interface listener.