23 #ifndef __PLUGINS_KATANA_MOTION_THREAD_H_
24 #define __PLUGINS_KATANA_MOTION_THREAD_H_
26 #include <core/threading/thread.h>
27 #include <logging/logger.h>
28 #include <core/utils/refptr.h>
29 #include <interfaces/KatanaInterface.h>
34 class KatanaController;
bool finished() const
Did the motion finish already?
Fawkes library namespace.
fawkes::RefPtr< fawkes::KatanaController > _katana
Katana object for interaction with the arm.
fawkes::Logger * _logger
Logger.
Katana motion thread base class.
Thread class encapsulation of pthreads.
KatanaMotionThread(const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
Constructor.
virtual void reset()
Reset for next execution.
unsigned int error_code() const
Error code.
bool _finished
Set to true when motion is finished, to false on reset.
unsigned int _error_code
Set to the desired error code on error.