23 #include "openrave_thread.h"
25 #include "environment.h"
27 #include "manipulator.h"
29 #include <openrave-core.h>
30 #include <core/exceptions/software.h>
32 using namespace fawkes;
45 :
Thread(
"OpenRaveThread",
Thread::OPMODE_WAITFORWAKEUP),
48 __or_aspectIniFin( this ),
66 OpenRAVE::RaveInitialize(
true);
67 }
catch(
const OpenRAVE::openrave_exception &e) {
137 {robot->
calibrate(trans_x, trans_y, trans_z);}
139 {robot->
set_offset(trans_x, trans_y, trans_z);}
154 set_manipulator(__OR_robot, manip, trans_x, trans_y, trans_z, calibrate);
200 robot->
load(filename_robot, __OR_env);
204 if( autogenerate_IK )
220 return __OR_env->
add_object(name, filename); }
244 return __OR_env->
move_object(name, trans_x, trans_y, trans_z, robot); }
254 return __OR_env->
rotate_object(name, quat_x, quat_y, quat_z, quat_w); }
279 OpenRAVE::Transform transform = __OR_env->
get_env_ptr()->GetKinBody(name)->GetTransform();
293 { robot = __OR_robot; }
307 { robot = __OR_robot; }
320 { robot = __OR_robot; }