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KatanaGotoOpenRaveThread Class Reference

class KatanaGotoOpenRaveThread More...

#include <goto_openrave_thread.h>

Inheritance diagram for KatanaGotoOpenRaveThread:

Additional Inherited Members

- Public Types inherited from fawkes::Thread
enum  OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP }
 Thread operation mode. More...
enum  CancelState { CANCEL_ENABLED, CANCEL_DISABLED }
 Cancel state. More...
- Public Member Functions inherited from KatanaMotionThread
 KatanaMotionThread (const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
 Constructor.
bool finished () const
 Did the motion finish already?
virtual void reset ()
 Reset for next execution.
unsigned int error_code () const
 Error code.
- Static Public Member Functions inherited from fawkes::Thread
static Threadcurrent_thread ()
 Get the Thread instance of the currently running thread.
static Threadcurrent_thread_noexc () throw ()
 Similar to current_thread, but does never throw an exception.
static pthread_t current_thread_id ()
 Get the ID of the currently running thread.
static void init_main ()
 Initialize Thread wrapper instance for main thread.
static void destroy_main ()
 Destroy main thread wrapper instance.
static void set_cancel_state (CancelState new_state, CancelState *old_state=0)
 Set the cancel state of the current thread.
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad".
- Protected Member Functions inherited from fawkes::Thread
 Thread (const char *name)
 Constructor.
 Thread (const char *name, OpMode op_mode)
 Constructor.
void exit ()
 Exit the thread.
void test_cancel ()
 Set cancellation point.
void yield ()
 Yield the processor to another thread or process.
virtual void run ()
 Code to execute in the thread.
void set_opmode (OpMode op_mode)
 Set operation mode.
void set_prepfin_conc_loop (bool concurrent=true)
 Set concurrent execution of prepare_finalize() and loop().
void set_coalesce_wakeups (bool coalesce=true)
 Set wakeup coalescing.
void set_name (const char *format,...)
 Set name of thread.
virtual void once ()
 Execute an action exactly once.
virtual void loop ()
 Code to execute in the thread.
bool wakeup_pending ()
 Check if wakeups are pending.
- Protected Attributes inherited from KatanaMotionThread
fawkes::RefPtr
< fawkes::KatanaController
_katana
 Katana object for interaction with the arm.
bool _finished
 Set to true when motion is finished, to false on reset.
fawkes::Logger_logger
 Logger.
unsigned int _error_code
 Set to the desired error code on error.

Detailed Description

class KatanaGotoOpenRaveThread

Katana collision-free goto thread.

This thread moves the arm into a specified position, using IK and path-planning from OpenRAVE.

Author
Tim Niemueller (goto_thread.h/cpp)
Bahram Maleki-Fard (OpenRAVE extension)

Definition at line 42 of file goto_openrave_thread.h.


The documentation for this class was generated from the following file: