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gripper_thread.h
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/***************************************************************************
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* gripper_thread.h - Katana gripper one-time thread
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*
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* Created: Thu Jun 11 11:56:46 2009
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* Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef __PLUGINS_KATANA_GRIPPER_THREAD_H_
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#define __PLUGINS_KATANA_GRIPPER_THREAD_H_
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#include "motion_thread.h"
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class
KatanaGripperThread
:
public
KatanaMotionThread
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{
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public
:
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KatanaGripperThread
(
fawkes::RefPtr<fawkes::KatanaController>
katana,
fawkes::Logger
*logger,
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unsigned
int
poll_interval_ms);
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/** Gripper execution mode. */
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typedef
enum
{
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OPEN_GRIPPER
,
/**< Open gripper */
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CLOSE_GRIPPER
/**< Close gripper */
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}
gripper_mode_t
;
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void
set_mode
(
gripper_mode_t
mode);
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virtual
void
once
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
virtual
void
run
() {
Thread::run
(); }
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private
:
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gripper_mode_t
__mode;
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unsigned
int
__poll_interval_usec;
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};
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#endif
src
plugins
katana
gripper_thread.h
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