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motion_thread.h
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/***************************************************************************
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* motion_thread.h - Katana one-time thread interface for motions
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*
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* Created: Wed Jun 10 11:20:18 2009
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* Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef __PLUGINS_KATANA_MOTION_THREAD_H_
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#define __PLUGINS_KATANA_MOTION_THREAD_H_
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#include <core/threading/thread.h>
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#include <logging/logger.h>
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#include <core/utils/refptr.h>
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#include <interfaces/KatanaInterface.h>
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#include <unistd.h>
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namespace
fawkes {
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class
KatanaController;
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}
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class
KatanaMotionThread
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:
public
fawkes::Thread
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{
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public
:
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KatanaMotionThread
(
const
char
*thread_name,
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fawkes::RefPtr<fawkes::KatanaController>
katana,
fawkes::Logger
*logger);
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bool
finished
()
const
;
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virtual
void
reset
();
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unsigned
int
error_code
()
const
;
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protected
:
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/** Katana object for interaction with the arm */
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fawkes::RefPtr<fawkes::KatanaController>
_katana
;
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/** Set to true when motion is finished, to false on reset */
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bool
_finished
;
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/** Logger */
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fawkes::Logger
*
_logger
;
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/** Set to the desired error code on error */
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unsigned
int
_error_code
;
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};
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#endif
src
plugins
katana
motion_thread.h
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