23#ifndef _PLUGINS_JACO_GOTO_THREAD_H_
24#define _PLUGINS_JACO_GOTO_THREAD_H_
28#include <aspect/blackboard.h>
29#include <aspect/configurable.h>
30#include <aspect/logging.h>
31#include <core/threading/thread.h>
96 float finger_last_[4];
100 unsigned int wait_status_check_;
Jaco Arm movement thread.
virtual void loop()
The main loop of this thread.
virtual void finalize()
Finalize.
virtual void pos_retract()
Moves the arm to the "RETRACT" position.
virtual void set_target_ang(float j1, float j2, float j3, float j4, float j5, float j6, float f1=0.f, float f2=0.f, float f3=0.f)
Set new target, given joint positions This target is added to the queue, skipping trajectory planning...
JacoGotoThread(const char *name, fawkes::jaco_arm_t *arm)
Constructor.
virtual void init()
Initialize.
virtual void set_target(float x, float y, float z, float e1, float e2, float e3, float f1=0.f, float f2=0.f, float f3=0.f)
Set new target, given cartesian coordinates.
virtual void stop()
Stops the current movement.
virtual void pos_ready()
Moves the arm to the "READY" position.
virtual void move_gripper(float f1, float f2, float f3)
Moves only the gripper.
virtual ~JacoGotoThread()
Destructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Thread aspect to access configuration data.
Thread aspect to log output.
Mutex mutual exclusion lock.
RefPtr<> is a reference-counting shared smartpointer.
Thread class encapsulation of pthreads.
const char * name() const
Get name of thread.
Fawkes library namespace.
std::vector< jaco_trajec_point_t > jaco_trajec_t
A trajectory.
Jaco struct containing all components required for one arm.