Fawkes API Fawkes Development Version
bimanual_act_thread.h
1
2/***************************************************************************
3 * bimanual_act_thread.h - Jaco plugin act-thread for coordinated bimanual manipulation
4 *
5 * Created: Mon Sep 29 03:13:20 2014
6 * Copyright 2014 Bahram Maleki-Fard
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_JACO_BIMANUAL_ACT_THREAD_H_
24#define _PLUGINS_JACO_BIMANUAL_ACT_THREAD_H_
25
26#include <aspect/blackboard.h>
27#include <aspect/blocked_timing.h>
28#include <aspect/configurable.h>
29#include <aspect/logging.h>
30#include <core/threading/thread.h>
31
32namespace fawkes {
34}
35
41{
42public:
44 virtual ~JacoBimanualActThread();
45
46 virtual void init();
47 virtual void finalize();
48 virtual void loop();
49
50 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
51protected:
52 virtual void
54 {
55 Thread::run();
56 }
57
58private:
60};
61
62#endif
Jaco Arm act-thread for coordinate bimanual manipulation.
virtual void init()
Initialize.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void finalize()
Finalize.
virtual void loop()
Main loop.
JacoBimanualActThread(fawkes::jaco_dual_arm_t *arms)
Constructor.
virtual ~JacoBimanualActThread()
Destructor.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.
Jaco struct containing all components required for a dual-arm setup.
Definition: types.h:113