Fawkes API
Fawkes Development Version
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class KatanaGotoOpenRaveThread More...
#include <goto_openrave_thread.h>
Additional Inherited Members | |
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enum | OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP } |
Thread operation mode. More... | |
enum | CancelState { CANCEL_ENABLED, CANCEL_DISABLED } |
Cancel state. More... | |
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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. | |
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static Thread * | current_thread () |
Get the Thread instance of the currently running thread. | |
static Thread * | current_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. | |
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static const unsigned int | FLAG_BAD = 0x00000001 |
Standard thread flag: "thread is bad". | |
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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. | |
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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. |
class KatanaGotoOpenRaveThread
Katana collision-free goto thread.
This thread moves the arm into a specified position, using IK and path-planning from OpenRAVE.
Definition at line 42 of file goto_openrave_thread.h.