Fawkes API  Fawkes Development Version
OpenRaveThread Class Reference

OpenRAVE Thread. More...

#include "openrave_thread.h"

Inheritance diagram for OpenRaveThread:

Public Member Functions

 OpenRaveThread ()
 Constructor. More...
 
virtual ~OpenRaveThread ()
 Destructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
virtual void finalize ()
 Finalize the thread. More...
 
virtual void clone (fawkes::OpenRaveEnvironmentPtr &env, fawkes::OpenRaveRobotPtr &robot, fawkes::OpenRaveManipulatorPtr &manip) const
 Clone basically everything We pass pointers to pointer as parameters, so the pointers we create before calling this clone() method will point to the new objects. More...
 
virtual fawkes::OpenRaveEnvironmentPtr get_environment () const
 Get pointer to OpenRaveEnvironment object. More...
 
virtual fawkes::OpenRaveRobotPtr get_active_robot () const
 Get RefPtr to currently used OpenRaveRobot object. More...
 
virtual void set_active_robot (fawkes::OpenRaveRobotPtr robot)
 Set robot to be used. More...
 
virtual void set_active_robot (fawkes::OpenRaveRobot *robot)
 Set robot to be used. More...
 
virtual fawkes::OpenRaveRobotPtr add_robot (const std::string &filename_robot, bool autogenerate_IK)
 Add a new robot to the environment, and set it as the currently active one. More...
 
virtual void set_manipulator (fawkes::OpenRaveManipulatorPtr &manip, float trans_x=0.f, float trans_y=0.f, float trans_z=0.f, bool calibrate=0)
 Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly. More...
 
virtual void set_manipulator (fawkes::OpenRaveRobotPtr &robot, fawkes::OpenRaveManipulatorPtr &manip, float trans_x=0.f, float trans_y=0.f, float trans_z=0.f, bool calibrate=0)
 Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly. More...
 
virtual void start_viewer () const
 Start Viewer. More...
 
virtual void run_planner (fawkes::OpenRaveRobotPtr &robot, float sampling=0.01f)
 Run planner on previously set target. More...
 
virtual void run_planner (float sampling=0.01f)
 Run planner on previously set target. More...
 
virtual void run_graspplanning (const std::string &target_name, fawkes::OpenRaveRobotPtr &robot)
 Run graspplanning script for a given target. More...
 
virtual void run_graspplanning (const std::string &target_name)
 Run graspplanning script for a given target. More...
 
virtual bool add_object (const std::string &name, const std::string &filename)
 Add an object to the environment. More...
 
virtual bool delete_object (const std::string &name)
 Remove object from environment. More...
 
virtual bool delete_all_objects ()
 Remove all objects from environment. More...
 
virtual bool rename_object (const std::string &name, const std::string &new_name)
 Rename object. More...
 
virtual bool move_object (const std::string &name, float trans_x, float trans_y, float trans_z, fawkes::OpenRaveRobotPtr &robot)
 Move object in the environment, relatively to robot. More...
 
virtual bool move_object (const std::string &name, float trans_x, float trans_y, float trans_z)
 Move object in the environment. More...
 
virtual bool rotate_object (const std::string &name, float quat_x, float quat_y, float quat_z, float quat_w)
 Rotate object by a quaternion. More...
 
virtual bool rotate_object (const std::string &name, float rot_x, float rot_y, float rot_z)
 Rotate object along its axis. More...
 
virtual bool set_target_object (const std::string &name, fawkes::OpenRaveRobotPtr &robot, float rot_x=0)
 Set an object as the target. More...
 
virtual bool attach_object (const char *name, fawkes::OpenRaveRobotPtr &robot, const char *manip_name=NULL)
 Attach a kinbody to the robot. More...
 
virtual bool attach_object (const char *name, const char *manip_name=NULL)
 Attach a kinbody to the robot. More...
 
virtual bool release_object (const std::string &name, fawkes::OpenRaveRobotPtr &robot)
 Release a kinbody from the robot. More...
 
virtual bool release_object (const std::string &name)
 Release a kinbody from the robot. More...
 
virtual bool release_all_objects (fawkes::OpenRaveRobotPtr &robot)
 Release all grabbed kinbodys from the robot. More...
 
virtual bool release_all_objects ()
 Release all grabbed kinbodys from the robot. 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::BlockedTimingAspect
 BlockedTimingAspect (WakeupHook wakeup_hook)
 Constructor. More...
 
virtual ~BlockedTimingAspect ()
 Virtual empty destructor. More...
 
WakeupHook blockedTimingAspectHook () const
 Get the wakeup hook. 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::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::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::AspectProviderAspect
 AspectProviderAspect (AspectIniFin *inifin)
 Constructor. More...
 
 AspectProviderAspect (const std::list< AspectIniFin *> aspects)
 Constructor. More...
 
virtual ~AspectProviderAspect ()
 Virtual empty destructor. More...
 
const std::list< AspectIniFin * > & aspect_provider_aspects () const
 Get name of the provided aspect. More...
 
- Public Member Functions inherited from fawkes::OpenRaveConnector
virtual ~OpenRaveConnector ()
 Virtual empty destructor. More...
 

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging. 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...
 
- Public Types inherited from fawkes::BlockedTimingAspect
enum  WakeupHook {
  WAKEUP_HOOK_PRE_LOOP, WAKEUP_HOOK_SENSOR_ACQUIRE, WAKEUP_HOOK_SENSOR_PREPARE, WAKEUP_HOOK_SENSOR_PROCESS,
  WAKEUP_HOOK_WORLDSTATE, WAKEUP_HOOK_THINK, WAKEUP_HOOK_SKILL, WAKEUP_HOOK_ACT,
  WAKEUP_HOOK_ACT_EXEC, WAKEUP_HOOK_POST_LOOP
}
 Type to define at which hook the thread is woken up. 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 Member Functions inherited from fawkes::BlockedTimingAspect
static const char * blocked_timing_hook_to_string (WakeupHook hook)
 Get string for wakeup hook. 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 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...
 

Detailed Description

OpenRAVE Thread.

This thread maintains an active connection to OpenRAVE and provides an aspect to access OpenRAVE to make it convenient for other threads to use OpenRAVE.

Author
Bahram Maleki-Fard

Definition at line 37 of file openrave_thread.h.

Constructor & Destructor Documentation

◆ OpenRaveThread()

OpenRaveThread::OpenRaveThread ( )

Constructor.

Definition at line 44 of file openrave_thread.cpp.

◆ ~OpenRaveThread()

OpenRaveThread::~OpenRaveThread ( )
virtual

Destructor.

Definition at line 57 of file openrave_thread.cpp.

Member Function Documentation

◆ add_object()

bool OpenRaveThread::add_object ( const std::string &  name,
const std::string &  filename 
)
virtual

Add an object to the environment.

Parameters
namename that should be given to that object
filenamepath to xml file of that object (KinBody)
Returns
true if successful

Implements fawkes::OpenRaveConnector.

Definition at line 257 of file openrave_thread.cpp.

Referenced by OpenRaveMessageHandlerThread::loop().

◆ add_robot()

OpenRaveRobotPtr OpenRaveThread::add_robot ( const std::string &  filename_robot,
bool  autogenerate_IK 
)
virtual

Add a new robot to the environment, and set it as the currently active one.

Parameters
filename_robotpath to robot's xml file
autogenerate_IKif true: autogenerate IKfast IK solver for robot
Returns
pointer to new OpenRaveRobot object

Implements fawkes::OpenRaveConnector.

Definition at line 235 of file openrave_thread.cpp.

References fawkes::LoggingAspect::logger, and set_active_robot().

◆ attach_object() [1/2]

bool OpenRaveThread::attach_object ( const char *  name,
fawkes::OpenRaveRobotPtr robot,
const char *  manip_name = NULL 
)
virtual

Attach a kinbody to the robot.

Parameters
namename of the object
robotpointer to OpenRaveRobot that object is attached to
manip_namename of the manipulator to attach the object to
Returns
true if successfull

Implements fawkes::OpenRaveConnector.

Definition at line 344 of file openrave_thread.cpp.

Referenced by attach_object(), and OpenRaveMessageHandlerThread::loop().

◆ attach_object() [2/2]

bool OpenRaveThread::attach_object ( const char *  name,
const char *  manip_name = NULL 
)
virtual

Attach a kinbody to the robot.

Uses currently active robot.

Parameters
namename of the object
manip_namename of the manipulator to attach the object to
Returns
true if successfull

Implements fawkes::OpenRaveConnector.

Definition at line 355 of file openrave_thread.cpp.

References attach_object().

◆ clone()

void OpenRaveThread::clone ( fawkes::OpenRaveEnvironmentPtr env,
fawkes::OpenRaveRobotPtr robot,
fawkes::OpenRaveManipulatorPtr manip 
) const
virtual

Clone basically everything We pass pointers to pointer as parameters, so the pointers we create before calling this clone() method will point to the new objects.

Parameters
envPointer to pointer of the copied environment
robotPointer to pointer of the copied robot
manipPointer to pointer of the copied manipulator

Implements fawkes::OpenRaveConnector.

Definition at line 103 of file openrave_thread.cpp.

◆ delete_all_objects()

bool OpenRaveThread::delete_all_objects ( )
virtual

Remove all objects from environment.

Returns
true if successful

Definition at line 268 of file openrave_thread.cpp.

Referenced by OpenRaveMessageHandlerThread::loop().

◆ delete_object()

bool OpenRaveThread::delete_object ( const std::string &  name)
virtual

Remove object from environment.

Parameters
namename of the object
Returns
true if successful

Implements fawkes::OpenRaveConnector.

Definition at line 263 of file openrave_thread.cpp.

Referenced by OpenRaveMessageHandlerThread::loop().

◆ finalize()

void OpenRaveThread::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 fawkes::Thread.

Definition at line 81 of file openrave_thread.cpp.

◆ get_active_robot()

OpenRaveRobotPtr OpenRaveThread::get_active_robot ( ) const
virtual

Get RefPtr to currently used OpenRaveRobot object.

Returns
RefPtr

Implements fawkes::OpenRaveConnector.

Definition at line 125 of file openrave_thread.cpp.

◆ get_environment()

OpenRaveEnvironmentPtr OpenRaveThread::get_environment ( ) const
virtual

Get pointer to OpenRaveEnvironment object.

Returns
pointer

Implements fawkes::OpenRaveConnector.

Definition at line 116 of file openrave_thread.cpp.

◆ init()

void OpenRaveThread::init ( )
virtual

Initialize the thread.

This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.

Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.

See also
Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 63 of file openrave_thread.cpp.

References fawkes::Logger::log_error(), fawkes::LoggingAspect::logger, and fawkes::Thread::name().

◆ loop()

void OpenRaveThread::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 88 of file openrave_thread.cpp.

◆ move_object() [1/2]

bool OpenRaveThread::move_object ( const std::string &  name,
float  trans_x,
float  trans_y,
float  trans_z,
fawkes::OpenRaveRobotPtr robot 
)
virtual

Move object in the environment, relatively to robot.

Distances are given in meters

Parameters
namename of the object
trans_xtransition along x-axis
trans_ytransition along y-axis
trans_ztransition along z-axis
robotmove relatively to robot (in most simple cases robot is at position (0,0,0) anyway, so this has no effect)
Returns
true if successful

Implements fawkes::OpenRaveConnector.

Definition at line 296 of file openrave_thread.cpp.

Referenced by OpenRaveMessageHandlerThread::loop().

◆ move_object() [2/2]

bool OpenRaveThread::move_object ( const std::string &  name,
float  trans_x,
float  trans_y,
float  trans_z 
)
virtual

Move object in the environment.

Distances are given in meters

Parameters
namename of the object
trans_xtransition along x-axis
trans_ytransition along y-axis
trans_ztransition along z-axis
Returns
true if successful

Implements fawkes::OpenRaveConnector.

Definition at line 285 of file openrave_thread.cpp.

◆ release_all_objects() [1/2]

bool OpenRaveThread::release_all_objects ( fawkes::OpenRaveRobotPtr robot)
virtual

Release all grabbed kinbodys from the robot.

Parameters
robotpointer to OpenRaveRobot that objects are released from
Returns
true if successfull

Implements fawkes::OpenRaveConnector.

Definition at line 386 of file openrave_thread.cpp.

Referenced by OpenRaveMessageHandlerThread::loop().

◆ release_all_objects() [2/2]

bool OpenRaveThread::release_all_objects ( )
virtual

Release all grabbed kinbodys from the robot.

Uses currently active robot.

Returns
true if successfull

Implements fawkes::OpenRaveConnector.

Definition at line 395 of file openrave_thread.cpp.

◆ release_object() [1/2]

bool OpenRaveThread::release_object ( const std::string &  name,
fawkes::OpenRaveRobotPtr robot 
)
virtual

Release a kinbody from the robot.

Parameters
namename of the object
robotpointer to OpenRaveRobot that object is released from
Returns
true if successfull

Implements fawkes::OpenRaveConnector.

Definition at line 366 of file openrave_thread.cpp.

Referenced by OpenRaveMessageHandlerThread::loop(), and release_object().

◆ release_object() [2/2]

bool OpenRaveThread::release_object ( const std::string &  name)
virtual

Release a kinbody from the robot.

Uses currently active robot.

Parameters
namename of the object
Returns
true if successfull

Implements fawkes::OpenRaveConnector.

Definition at line 376 of file openrave_thread.cpp.

References release_object().

◆ rename_object()

bool OpenRaveThread::rename_object ( const std::string &  name,
const std::string &  new_name 
)
virtual

Rename object.

Parameters
namecurrent name of the object
new_namenew name of the object
Returns
true if successful

Implements fawkes::OpenRaveConnector.

Definition at line 275 of file openrave_thread.cpp.

Referenced by OpenRaveMessageHandlerThread::loop().

◆ rotate_object() [1/2]

bool OpenRaveThread::rotate_object ( const std::string &  name,
float  quat_x,
float  quat_y,
float  quat_z,
float  quat_w 
)
virtual

Rotate object by a quaternion.

Parameters
namename of the object
quat_xx value of quaternion
quat_yy value of quaternion
quat_zz value of quaternion
quat_ww value of quaternion
Returns
true if successful

Implements fawkes::OpenRaveConnector.

Definition at line 306 of file openrave_thread.cpp.

Referenced by OpenRaveMessageHandlerThread::loop().

◆ rotate_object() [2/2]

bool OpenRaveThread::rotate_object ( const std::string &  name,
float  rot_x,
float  rot_y,
float  rot_z 
)
virtual

Rotate object along its axis.

Rotation angles should be given in radians.

Parameters
namename of the object
rot_x1st rotation, along x-axis
rot_y2nd rotation, along y-axis
rot_z3rd rotation, along z-axis
Returns
true if successful

Implements fawkes::OpenRaveConnector.

Definition at line 316 of file openrave_thread.cpp.

◆ run()

virtual void OpenRaveThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 95 of file openrave_thread.h.

◆ run_graspplanning() [1/2]

void OpenRaveThread::run_graspplanning ( const std::string &  target_name,
fawkes::OpenRaveRobotPtr robot 
)
virtual

Run graspplanning script for a given target.

Parameters
target_namename of targeted object (KinBody)
robotrobot to use planner on. If none is given, the currently used robot is taken

Implements fawkes::OpenRaveConnector.

Definition at line 215 of file openrave_thread.cpp.

Referenced by run_graspplanning().

◆ run_graspplanning() [2/2]

void OpenRaveThread::run_graspplanning ( const std::string &  target_name)
virtual

Run graspplanning script for a given target.

Uses currently active robot.

Parameters
target_namename of targeted object (KinBody)

Implements fawkes::OpenRaveConnector.

Definition at line 224 of file openrave_thread.cpp.

References run_graspplanning().

◆ run_planner() [1/2]

void OpenRaveThread::run_planner ( fawkes::OpenRaveRobotPtr robot,
float  sampling = 0.01f 
)
virtual

Run planner on previously set target.

Parameters
robotrobot to use planner on. If none is given, the currently used robot is taken
samplingsampling time between each trajectory point (in seconds)

Implements fawkes::OpenRaveConnector.

Definition at line 196 of file openrave_thread.cpp.

Referenced by run_planner().

◆ run_planner() [2/2]

void OpenRaveThread::run_planner ( float  sampling = 0.01f)
virtual

Run planner on previously set target.

Uses currently active robot.

Parameters
samplingsampling time between each trajectory point (in seconds)

Implements fawkes::OpenRaveConnector.

Definition at line 205 of file openrave_thread.cpp.

References run_planner().

◆ set_active_robot() [1/2]

void OpenRaveThread::set_active_robot ( fawkes::OpenRaveRobotPtr  robot)
virtual

Set robot to be used.

Parameters
robotOpenRaveRobot that should be used implicitly in other methods

Implements fawkes::OpenRaveConnector.

Definition at line 134 of file openrave_thread.cpp.

Referenced by add_robot().

◆ set_active_robot() [2/2]

void OpenRaveThread::set_active_robot ( fawkes::OpenRaveRobot robot)
virtual

Set robot to be used.

Parameters
robotOpenRaveRobot that should be used implicitly in other methods

Implements fawkes::OpenRaveConnector.

Definition at line 143 of file openrave_thread.cpp.

◆ set_manipulator() [1/2]

void OpenRaveThread::set_manipulator ( fawkes::OpenRaveManipulatorPtr manip,
float  trans_x = 0.f,
float  trans_y = 0.f,
float  trans_z = 0.f,
bool  calibrate = 0 
)
virtual

Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.

Make sure to update manip angles before calibrating! Uses default OpenRaveRobot object.

Parameters
manippointer to OpenRAVManipulator that is set for robot
trans_xtransition offset on x-axis
trans_ytransition offset on y-axis
trans_ztransition offset on z-axis
calibratedecides whether to calculate offset (true )or set them directly (false; default)

Implements fawkes::OpenRaveConnector.

Definition at line 178 of file openrave_thread.cpp.

◆ set_manipulator() [2/2]

void OpenRaveThread::set_manipulator ( fawkes::OpenRaveRobotPtr robot,
fawkes::OpenRaveManipulatorPtr manip,
float  trans_x = 0.f,
float  trans_y = 0.f,
float  trans_z = 0.f,
bool  calibrate = 0 
)
virtual

Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.

Make sure to update manip angles before calibrating!

Parameters
robotpointer to OpenRaveRobot object, explicitly set
manippointer to OpenRAVManipulator that is set for robot
trans_xtransition offset on x-axis
trans_ytransition offset on y-axis
trans_ztransition offset on z-axis
calibratedecides whether to calculate offset (true )or set them directly (false; default)

Implements fawkes::OpenRaveConnector.

Definition at line 159 of file openrave_thread.cpp.

◆ set_target_object()

bool OpenRaveThread::set_target_object ( const std::string &  name,
fawkes::OpenRaveRobotPtr robot,
float  rot_x = 0 
)
virtual

Set an object as the target.

Currently the object should be cylindric, and stand upright. It may also be rotated on its x-axis, but that rotation needs to be given in an argument to calculate correct position for endeffecto. This is only temporary until proper graps planning for 5DOF in OpenRAVE is provided.

Parameters
namename of the object
robotpointer to OpenRaveRobot that the target is set for
rot_xrotation of object on x-axis (radians)
Returns
true if IK solvable

Implements fawkes::OpenRaveConnector.

Definition at line 330 of file openrave_thread.cpp.

◆ start_viewer()

void OpenRaveThread::start_viewer ( ) const
virtual

Start Viewer.

Implements fawkes::OpenRaveConnector.

Definition at line 186 of file openrave_thread.cpp.

Referenced by OpenRaveMessageHandlerThread::loop().


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