24 #ifndef __PLUGINS_KATANA_GOTO_OPENRAVE_THREAD_H_
25 #define __PLUGINS_KATANA_GOTO_OPENRAVE_THREAD_H_
27 #include "motion_thread.h"
32 #include <plugins/openrave/aspect/openrave.h>
37 class OpenRaveManipulator;
48 unsigned int poll_interval_ms,
49 std::string robot_file,
50 std::string arm_model,
58 void set_target(
float x,
float y,
float z,
float phi,
float theta,
float psi);
59 void set_target(
float x,
float y,
float z,
float quat_x,
float quat_y,
float quat_z,
float quat_w);
60 void set_target(
const std::string& object_name,
float rot_x);
61 void set_theta_error(
float error);
62 void set_move_straight(
bool move_straight);
63 void set_arm_extension(
bool arm_extension);
64 void set_plannerparams(std::string& params,
bool straight=
false);
65 void set_plannerparams(
const char* params,
bool straight=
false);
67 virtual bool plan_target();
68 virtual void update_openrave_data();
69 virtual bool update_motor_data();
70 virtual bool move_katana();
72 static const std::string DEFAULT_PLANNERPARAMS;
73 static const std::string DEFAULT_PLANNERPARAMS_STRAIGHT;
79 std::string __target_object;
80 std::vector< std::vector<float> >* __target_traj;
81 std::vector< std::vector<float> >::iterator __it;
83 std::vector< int > __motor_encoders;
84 std::vector< float > __motor_angles;
86 const std::string __cfg_robot_file;
87 const std::string __cfg_arm_model;
88 bool __cfg_autoload_IK;
89 bool __cfg_use_viewer;
91 bool __is_target_object;
92 bool __has_target_quaternion;
94 bool __is_arm_extension;
95 std::string __plannerparams;
96 std::string __plannerparams_straight;
101 float __phi, __theta, __psi, __theta_error;
102 float __quat_x, __quat_y, __quat_z, __quat_w;
103 unsigned int __poll_interval_usec;
105 #endif //HAVE_OPENRAVE
virtual void once()
Execute an action exactly once.
Katana motion thread base class.
virtual void finalize()
Finalize the thread.
Class containing information about all manipulator motors.
class KatanaGotoOpenRaveThread
Interface for a OpenRave connection creator.
virtual void init()
Initialize the thread.