23 #ifndef __PLUGINS_JACO_OPENRAVE_BASE_THREAD_H_ 24 #define __PLUGINS_JACO_OPENRAVE_BASE_THREAD_H_ 26 #include <core/threading/thread.h> 27 #include <aspect/logging.h> 28 #include <aspect/configurable.h> 29 #include <aspect/blackboard.h> 31 #include <plugins/openrave/aspect/openrave.h> 34 #include <core/utils/refptr.h> 50 } jaco_openrave_set_t;
85 virtual void run() { Thread::run(); }
99 fawkes::jaco_openrave_set_t __viewer_env;
101 bool __cfg_OR_use_viewer;
102 std::string __cfg_OR_robot_file;
103 bool __cfg_OR_auto_load_ik;
104 float __cfg_OR_sampling;
105 bool __cfg_OR_plot_traj_manip;
106 bool __cfg_OR_plot_traj_joints;
107 bool __cfg_OR_plot_cur_manip;
108 bool __cfg_OR_plot_cur_joints;
110 std::string __plannerparams;
virtual ~JacoOpenraveBaseThread()
Destructor.
Thread aspect to access to BlackBoard.
fawkes::Mutex * __planning_mutex
mutex, used to lock when planning.
Fawkes library namespace.
Thread class encapsulation of pthreads.
virtual void update_openrave()=0
Update the openrave environment to represent the current situation.
Thread aspect create, update, and graph round-robin databases (RRD).
RefPtr< OpenRaveEnvironment > OpenRaveEnvironmentPtr
RefPtr to OpenRaveEnvironment.
virtual void _post_init()
Use this in inheriting classes for post_init stuff, e.g.
virtual void _load_robot()
Use this in inheriting classes to load the OpenRaveRobot.
RefPtr< OpenRaveManipulator > OpenRaveManipulatorPtr
RefPtr to OpenRaveManipulator.
const char * name() const
Get name of thread.
Thread aspect to log output.
virtual void plot_first()=0
Plot the first target of the target_queue, if it is a trajectory.
Thread aspect to access configuration data.
virtual void finalize()
Finalize the thread.
virtual void set_plannerparams(const std::string ¶ms)
Set planner parameters.
JacoOpenraveBaseThread(const char *name)
Constructor.
Mutex mutual exclusion lock.
RefPtr< OpenRaveRobot > OpenRaveRobotPtr
RefPtr to OpenRaveRobot.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void _init()
Use this in inheriting classes for additiona initializations.
virtual void plot_current(bool enable)
Enable/Disable plotting of the current arm position.
Base Jaco Arm thread, integrating OpenRAVE.