23 #ifndef __PLUGINS_JACO_GOTO_THREAD_H_ 24 #define __PLUGINS_JACO_GOTO_THREAD_H_ 28 #include <core/threading/thread.h> 29 #include <aspect/logging.h> 30 #include <aspect/configurable.h> 31 #include <aspect/blackboard.h> 51 virtual void finalize();
56 virtual void set_target(
float x,
float y,
float z,
float e1,
float e2,
float e3,
float f1=0.f,
float f2=0.f,
float f3=0.f);
57 virtual void set_target_ang(
float j1,
float j2,
float j3,
float j4,
float j5,
float j6,
float f1=0.f,
float f2=0.f,
float f3=0.f);
58 virtual void move_gripper(
float f1,
float f2,
float f3);
60 virtual void pos_ready();
61 virtual void pos_retract();
76 float __finger_last[4];
80 unsigned int __wait_status_check;
Jaco struct containing all components required for one arm.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Thread class encapsulation of pthreads.
std::vector< jaco_trajec_point_t > jaco_trajec_t
A trajectory.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to log output.
Thread aspect to access configuration data.
Jaco Arm movement thread.
RefPtr<> is a reference-counting shared smartpointer.
Mutex mutual exclusion lock.