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goto_thread.h
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/***************************************************************************
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* goto_thread.h - Katana goto one-time thread
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*
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* Created: Wed Jun 10 11:44:24 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_GOTO_THREAD_H_
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#define __PLUGINS_KATANA_GOTO_THREAD_H_
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#include "motion_thread.h"
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#include <string>
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class
KatanaGotoThread
:
public
KatanaMotionThread
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{
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public
:
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KatanaGotoThread
(
fawkes::RefPtr<fawkes::KatanaController>
katana,
fawkes::Logger
*logger,
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unsigned
int
poll_interval_ms);
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virtual
void
set_target
(
float
x,
float
y,
float
z,
float
phi,
float
theta,
float
psi);
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virtual
void
once
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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private
:
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virtual
void
run() { Thread::run(); }
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float
__x, __y, __z;
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float
__phi, __theta, __psi;
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unsigned
int
__poll_interval_usec;
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};
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#endif
src
plugins
katana
goto_thread.h
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