23#ifndef _PLUGINS_JACO_BIMANUAL_ACT_THREAD_H_
24#define _PLUGINS_JACO_BIMANUAL_ACT_THREAD_H_
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>
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.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Thread aspect to log output.
Thread class encapsulation of pthreads.
Fawkes library namespace.
Jaco struct containing all components required for a dual-arm setup.