24#include "calib_thread.h"
26#include "controller.h"
28#include <interfaces/KatanaInterface.h>
KatanaCalibrationThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
Constructor.
virtual void once()
Execute an action exactly once.
Katana motion thread base class.
fawkes::Logger * _logger
Logger.
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.
unsigned int _error_code
Set to the desired error code on error.
Base class for exceptions in Fawkes.
virtual const char * what() const noexcept
Get primary string.
virtual void calibrate()=0
Calibrate the arm.
static const uint32_t ERROR_CMD_START_FAILED
ERROR_CMD_START_FAILED constant.
virtual void log_debug(const char *component, const char *format,...)=0
Log debug message.
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
const char * name() const
Get name of thread.