23 #ifndef __PLUGINS_JACO_OPENRAVE_THREAD_H_ 24 #define __PLUGINS_JACO_OPENRAVE_THREAD_H_ 26 #include "openrave_base_thread.h" 29 #include <plugins/openrave/aspect/openrave.h> 30 #include <openrave/openrave.h> 47 virtual bool add_target(
float x,
float y,
float z,
float e1,
float e2,
float e3,
bool plan=
true);
48 virtual bool add_target_ang(
float j1,
float j2,
float j3,
float j4,
float j5,
float j6,
bool plan=
true);
49 virtual bool set_target(
float x,
float y,
float z,
float e1,
float e2,
float e3,
bool plan=
true);
50 virtual bool set_target_ang(
float j1,
float j2,
float j3,
float j4,
float j5,
float j6,
bool plan=
true);
54 virtual void run() { Thread::run(); }
65 std::string __cfg_manipname;
69 fawkes::jaco_openrave_set_t __planner_env;
71 OpenRAVE::RobotBasePtr __robot;
72 OpenRAVE::RobotBase::ManipulatorPtr __manip;
73 std::vector<OpenRAVE::dReal> __joints;
75 std::vector<OpenRAVE::GraphHandlePtr> __graph_handle;
76 std::vector<OpenRAVE::GraphHandlePtr> __graph_current;
78 std::vector<OpenRAVE::KinBody::LinkPtr> __links;
80 bool __plotted_current;
Jaco struct containing all components required for one arm.
virtual void update_openrave()
Update the openrave environment to represent the current situation.
virtual void plot_first()
Plot the first target of the queue in the viewer_env.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void finalize()
Finalize the thread.
virtual bool set_target(float x, float y, float z, float e1, float e2, float e3, bool plan=true)
Flush the target_queue and add this one.
JacoOpenraveThread(const char *name, fawkes::jaco_arm_t *arm, bool load_robot=true)
Constructor.
virtual bool add_target_ang(float j1, float j2, float j3, float j4, float j5, float j6, bool plan=true)
Add target joint values to the queue.
const char * name() const
Get name of thread.
RefPtr<> is a reference-counting shared smartpointer.
Jaco Arm thread for single-arm setup, integrating OpenRAVE.
virtual bool add_target(float x, float y, float z, float e1, float e2, float e3, bool plan=true)
Solve IK and add target to the queue.
virtual void loop()
Mani loop.
virtual bool set_target_ang(float j1, float j2, float j3, float j4, float j5, float j6, bool plan=true)
Flush the target_queue and add this one.
Base Jaco Arm thread, integrating OpenRAVE.