23 #ifndef __PLUGINS_JACO_BIMANUAL_GOTO_THREAD_H_ 24 #define __PLUGINS_JACO_BIMANUAL_GOTO_THREAD_H_ 28 #include <core/threading/thread.h> 29 #include <aspect/logging.h> 30 #include <aspect/configurable.h> 31 #include <aspect/blackboard.h> 53 virtual void move_gripper(
float l_f1,
float l_f2,
float l_f3,
float r_f1,
float r_f2,
float r_f3);
56 protected:
virtual void run() { Thread::run(); }
59 void _lock_queues()
const;
60 void _unlock_queues()
const;
64 void _move_grippers();
69 typedef struct arm_struct {
80 arm_struct_t* __v_arms[2];
Jaco struct containing all components required for one arm.
Thread aspect to access to BlackBoard.
virtual void finalize()
Finalize the thread.
Jaco Arm movement thread.
JacoBimanualGotoThread(fawkes::jaco_dual_arm_t *arms)
Constructor.
Fawkes library namespace.
virtual void loop()
The main loop of this thread.
virtual ~JacoBimanualGotoThread()
Destructor.
Thread class encapsulation of pthreads.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void init()
Initialize the thread.
Thread aspect to log output.
virtual void move_gripper(float l_f1, float l_f2, float l_f3, float r_f1, float r_f2, float r_f3)
Moves only the gripper of both arms.
virtual void stop()
Stops the current movement.
Thread aspect to access configuration data.
RefPtr<> is a reference-counting shared smartpointer.
Jaco struct containing all components required for a dual-arm setup.
Mutex mutual exclusion lock.