Fawkes API  Fawkes Development Version
gripper_thread.h
1 
2 /***************************************************************************
3  * gripper_thread.h - Katana gripper one-time thread
4  *
5  * Created: Thu Jun 11 11:56:46 2009
6  * Copyright 2006-2009 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 #ifndef __PLUGINS_KATANA_GRIPPER_THREAD_H_
24 #define __PLUGINS_KATANA_GRIPPER_THREAD_H_
25 
26 #include "motion_thread.h"
27 
29 {
30  public:
32  unsigned int poll_interval_ms);
33 
34  /** Gripper execution mode. */
35  typedef enum {
36  OPEN_GRIPPER, /**< Open gripper */
37  CLOSE_GRIPPER /**< Close gripper */
39 
40  void set_mode(gripper_mode_t mode);
41  virtual void once();
42 
43  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
44  protected: virtual void run() { Thread::run(); }
45 
46  private:
47  gripper_mode_t __mode;
48  unsigned int __poll_interval_usec;
49 };
50 
51 
52 #endif
KatanaGripperThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
Katana motion thread base class.
Definition: motion_thread.h:35
virtual void run()
Stub to see name in backtrace for easier debugging.
Katana gripper thread.
void set_mode(gripper_mode_t mode)
Set mode.
gripper_mode_t
Gripper execution mode.
virtual void once()
Execute an action exactly once.
Interface for logging.
Definition: logger.h:34