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KatanaGotoOpenRaveThread Class Reference

class KatanaGotoOpenRaveThread More...

#include <goto_openrave_thread.h>

Inheritance diagram for KatanaGotoOpenRaveThread:

Additional Inherited Members

- Public Types inherited from fawkes::Thread
enum  OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP }
 Thread operation mode. More...
 
enum  CancelState { CANCEL_ENABLED, CANCEL_DISABLED }
 Cancel state. More...
 
- Public Member Functions inherited from KatanaMotionThread
 KatanaMotionThread (const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
 Constructor. More...
 
bool finished () const
 Did the motion finish already? More...
 
virtual void reset ()
 Reset for next execution. More...
 
unsigned int error_code () const
 Error code. More...
 
- Static Public Member Functions inherited from fawkes::Thread
static Threadcurrent_thread ()
 Get the Thread instance of the currently running thread. More...
 
static Threadcurrent_thread_noexc () throw ()
 Similar to current_thread, but does never throw an exception. More...
 
static pthread_t current_thread_id ()
 Get the ID of the currently running thread. More...
 
static void init_main ()
 Initialize Thread wrapper instance for main thread. More...
 
static void destroy_main ()
 Destroy main thread wrapper instance. More...
 
static void set_cancel_state (CancelState new_state, CancelState *old_state=0)
 Set the cancel state of the current thread. More...
 
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad". More...
 
- Protected Member Functions inherited from fawkes::Thread
 Thread (const char *name)
 Constructor. More...
 
 Thread (const char *name, OpMode op_mode)
 Constructor. More...
 
void exit ()
 Exit the thread. More...
 
void test_cancel ()
 Set cancellation point. More...
 
void yield ()
 Yield the processor to another thread or process. More...
 
virtual void run ()
 Code to execute in the thread. More...
 
void set_opmode (OpMode op_mode)
 Set operation mode. More...
 
void set_prepfin_conc_loop (bool concurrent=true)
 Set concurrent execution of prepare_finalize() and loop(). More...
 
void set_coalesce_wakeups (bool coalesce=true)
 Set wakeup coalescing. More...
 
void set_name (const char *format,...)
 Set name of thread. More...
 
virtual void once ()
 Execute an action exactly once. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
bool wakeup_pending ()
 Check if wakeups are pending. More...
 
- Protected Attributes inherited from KatanaMotionThread
fawkes::RefPtr
< fawkes::KatanaController
_katana
 Katana object for interaction with the arm. More...
 
bool _finished
 Set to true when motion is finished, to false on reset. More...
 
fawkes::Logger_logger
 Logger. More...
 
unsigned int _error_code
 Set to the desired error code on error. More...
 

Detailed Description

class KatanaGotoOpenRaveThread

Katana collision-free goto thread.

This thread moves the arm into a specified position, using IK and path-planning from OpenRAVE.

Author
Tim Niemueller (goto_thread.h/cpp)
Bahram Maleki-Fard (OpenRAVE extension)

Definition at line 42 of file goto_openrave_thread.h.


The documentation for this class was generated from the following file: