Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * motion_thread.h - Katana one-time thread interface for motions 00004 * 00005 * Created: Wed Jun 10 11:20:18 2009 00006 * Copyright 2006-2009 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #ifndef __PLUGINS_KATANA_MOTION_THREAD_H_ 00024 #define __PLUGINS_KATANA_MOTION_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <logging/logger.h> 00028 #include <core/utils/refptr.h> 00029 #include <interfaces/KatanaInterface.h> 00030 00031 #include <unistd.h> 00032 00033 namespace fawkes { 00034 class KatanaController; 00035 } 00036 00037 class KatanaMotionThread 00038 : public fawkes::Thread 00039 { 00040 public: 00041 KatanaMotionThread(const char *thread_name, 00042 fawkes::RefPtr<fawkes::KatanaController> katana, fawkes::Logger *logger); 00043 00044 bool finished() const; 00045 virtual void reset(); 00046 unsigned int error_code() const; 00047 00048 protected: 00049 /** Katana object for interaction with the arm */ 00050 fawkes::RefPtr<fawkes::KatanaController> _katana; 00051 /** Set to true when motion is finished, to false on reset */ 00052 bool _finished; 00053 /** Logger */ 00054 fawkes::Logger *_logger; 00055 /** Set to the desired error code on error */ 00056 unsigned int _error_code; 00057 00058 }; 00059 00060 00061 #endif