Fawkes API Fawkes Development Version
info_thread.h
1
2/***************************************************************************
3 * info_thread.h - Kinova Jaco plugin information thread
4 *
5 * Created: Thu Jun 13 19:14:20 2013
6 * Copyright 2013 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_INFO_THREAD_H_
24#define _PLUGINS_JACO_INFO_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
32#include <string>
33
34namespace fawkes {
35typedef struct jaco_arm_struct jaco_arm_t;
36}
37
43{
44public:
45 JacoInfoThread(const char *name, fawkes::jaco_arm_t *arm);
46 virtual ~JacoInfoThread();
47
48 virtual void init();
49 virtual void finalize();
50 virtual void loop();
51
52 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
53protected:
54 virtual void
56 {
57 Thread::run();
58 }
59
60private:
62
63 std::vector<float> cpos_;
64 std::vector<float> apos_;
65};
66
67#endif
Jaco Arm information thread.
Definition: info_thread.h:43
virtual void init()
Initialize the thread.
Definition: info_thread.cpp:56
virtual void loop()
Code to execute in the thread.
Definition: info_thread.cpp:67
virtual void finalize()
Finalize the thread.
Definition: info_thread.cpp:61
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: info_thread.h:55
virtual ~JacoInfoThread()
Destructor.
Definition: info_thread.cpp:51
JacoInfoThread(const char *name, fawkes::jaco_arm_t *arm)
Constructor.
Definition: info_thread.cpp:43
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
const char * name() const
Get name of thread.
Definition: thread.h:100
Fawkes library namespace.
struct jaco_arm_struct jaco_arm_t
Jaco struct containing all components required for one arm.
Definition: act_thread.h:33
Jaco struct containing all components required for one arm.
Definition: types.h:93