23#ifndef _PLUGINS_KATANA_GOTO_THREAD_H_
24#define _PLUGINS_KATANA_GOTO_THREAD_H_
26#include "motion_thread.h"
35 unsigned int poll_interval_ms);
37 virtual void set_target(
float x,
float y,
float z,
float phi,
float theta,
float psi);
50 float phi_, theta_, psi_;
51 unsigned int poll_interval_usec_;
Katana linear goto thread.
KatanaGotoThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
virtual void set_target(float x, float y, float z, float phi, float theta, float psi)
Set target position.
virtual void once()
Execute an action exactly once.
Katana motion thread base class.