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> 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);
66 protected:
virtual void run() { Thread::run(); }
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.
JacoGotoThread(const char *name, fawkes::jaco_arm_t *arm)
Constructor.
Fawkes library namespace.
virtual void init()
Initialize.
virtual void pos_retract()
Moves the arm to the "RETRACT" position.
Thread class encapsulation of pthreads.
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)
Set new target, given cartesian coordinates.
std::vector< jaco_trajec_point_t > jaco_trajec_t
A trajectory.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual ~JacoGotoThread()
Destructor.
virtual void pos_ready()
Moves the arm to the "READY" position.
virtual void stop()
Stops the current movement.
virtual void finalize()
Finalize.
const char * name() const
Get name of thread.
Thread aspect to log output.
virtual void move_gripper(float f1, float f2, float f3)
Moves only the gripper.
Thread aspect to access configuration data.
Jaco Arm movement thread.
RefPtr<> is a reference-counting shared smartpointer.
virtual void loop()
The main loop of this thread.
Mutex mutual exclusion lock.
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)
Set new target, given joint positions This target is added to the queue, skipping trajectory planning...