23 #ifndef __PLUGINS_JACO_OPENRAVE_BASE_THREAD_H_ 24 #define __PLUGINS_JACO_OPENRAVE_BASE_THREAD_H_ 26 #include <core/threading/thread.h> 27 #include <aspect/logging.h> 28 #include <aspect/configurable.h> 29 #include <aspect/blackboard.h> 31 #include <plugins/openrave/aspect/openrave.h> 34 #include <core/utils/refptr.h> 50 } jaco_openrave_set_t;
68 virtual void finalize();
70 virtual void set_plannerparams(
const std::string ¶ms);
71 virtual void set_plannerparams(
const char* params);
76 virtual void update_openrave() = 0;
79 virtual void plot_first() = 0;
81 virtual void plot_current(
bool enable);
99 fawkes::jaco_openrave_set_t __viewer_env;
101 bool __cfg_OR_use_viewer;
102 std::string __cfg_OR_robot_file;
103 bool __cfg_OR_auto_load_ik;
104 float __cfg_OR_sampling;
105 bool __cfg_OR_plot_traj_manip;
106 bool __cfg_OR_plot_traj_joints;
107 bool __cfg_OR_plot_cur_manip;
108 bool __cfg_OR_plot_cur_joints;
110 std::string __plannerparams;
Thread aspect to access to BlackBoard.
fawkes::Mutex * __planning_mutex
mutex, used to lock when planning.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Thread class encapsulation of pthreads.
Thread aspect create, update, and graph round-robin databases (RRD).
RefPtr< OpenRaveEnvironment > OpenRaveEnvironmentPtr
RefPtr to OpenRaveEnvironment.
virtual void _post_init()
Use this in inheriting classes for post_init stuff, e.g.
virtual void _load_robot()
Use this in inheriting classes to load the OpenRaveRobot.
RefPtr< OpenRaveManipulator > OpenRaveManipulatorPtr
RefPtr to OpenRaveManipulator.
Thread aspect to log output.
Thread aspect to access configuration data.
Mutex mutual exclusion lock.
RefPtr< OpenRaveRobot > OpenRaveRobotPtr
RefPtr to OpenRaveRobot.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void _init()
Use this in inheriting classes for additiona initializations.
Base Jaco Arm thread, integrating OpenRAVE.