24#ifndef _PLUGINS_KATANA_MOTION_THREAD_H_
25#define _PLUGINS_KATANA_MOTION_THREAD_H_
27#include <core/threading/thread.h>
28#include <core/utils/refptr.h>
29#include <logging/logger.h>
32class KatanaController;
Katana motion thread base class.
fawkes::Logger * _logger
Logger.
virtual void reset()
Reset for next execution.
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() const
Error code.
unsigned int _error_code
Set to the desired error code on error.
KatanaMotionThread(const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
Constructor.
bool finished() const
Did the motion finish already?
Thread class encapsulation of pthreads.
Fawkes library namespace.