24 #ifndef _PLUGINS_KATANA_ACT_THREAD_H_ 25 #define _PLUGINS_KATANA_ACT_THREAD_H_ 27 #include <aspect/blackboard.h> 28 #include <aspect/blocked_timing.h> 29 #include <aspect/clock.h> 30 #include <aspect/configurable.h> 31 #include <aspect/logging.h> 32 #include <aspect/tf.h> 33 #include <core/threading/thread.h> 35 # include <plugins/openrave/aspect/openrave.h> 37 #include <blackboard/interface_listener.h> 38 #include <core/utils/refptr.h> 39 #ifdef USE_TIMETRACKER 40 # include <utils/time/tracker.h> 47 class KatanaInterface;
50 class KatanaController;
98 void update_position(
bool refresh);
99 void update_sensors(
bool refresh);
100 void update_motors(
bool refresh);
108 std::vector<fawkes::JointInterface *> *joint_ifs_;
110 std::string cfg_controller_;
111 std::string cfg_device_;
112 std::string cfg_kni_conffile_;
113 bool cfg_auto_calibrate_;
114 unsigned int cfg_defmax_speed_;
115 unsigned int cfg_read_timeout_;
116 unsigned int cfg_write_timeout_;
117 unsigned int cfg_gripper_pollint_;
118 unsigned int cfg_goto_pollint_;
123 float cfg_park_theta_;
126 float cfg_distance_scale_;
128 float cfg_update_interval_;
130 std::string cfg_frame_kni_;
131 std::string cfg_frame_gripper_;
132 std::string cfg_frame_openrave_;
134 bool cfg_OR_enabled_;
136 bool cfg_OR_use_viewer_;
137 bool cfg_OR_auto_load_ik_;
138 std::string cfg_OR_robot_file_;
139 std::string cfg_OR_arm_model_;
156 #ifdef USE_TIMETRACKER 158 unsigned int tt_count_;
159 unsigned int ttc_read_sensor_;
Thread aspect to access to BlackBoard.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
virtual void loop()
Code to execute in the thread.
Fawkes library namespace.
Katana motor control thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
A class for handling time.
Katana motion thread base class.
Thread class encapsulation of pthreads.
Base class for all Fawkes BlackBoard interfaces.
Thread aspect create, update, and graph round-robin databases (RRD).
virtual void finalize()
Finalize the thread.
virtual void once()
Execute an action exactly once.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
KatanaInterface Fawkes BlackBoard Interface.
Thread aspect to log output.
Katana sensor acquisition thread.
class KatanaGotoOpenRaveThread
virtual bool bb_interface_message_received(fawkes::Interface *interface, fawkes::Message *message)
BlackBoard message received notification.
Thread aspect to access configuration data.
void update_sensor_values()
Update sensor values as necessary.
Katana linear goto thread.
KatanaActThread()
Constructor.
~KatanaActThread()
Destructor.
Katana calibration thread.
BlackBoard interface listener.