Fawkes API
Fawkes Development Version
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class KatanaGotoOpenRaveThread More...
#include <goto_openrave_thread.h>
Additional Inherited Members | |
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KatanaMotionThread (const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger) | |
Constructor. | |
bool | finished () const |
Did the motion finish already? | |
virtual void | reset () |
Reset for next execution. | |
unsigned int | error_code () const |
Error code. | |
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virtual | ~Thread () |
Virtual destructor. | |
virtual void | init () |
Initialize the thread. | |
bool | prepare_finalize () |
Prepare finalization. | |
virtual bool | prepare_finalize_user () |
Prepare finalization user implementation. | |
virtual void | finalize () |
Finalize the thread. | |
void | cancel_finalize () |
Cancel finalization. | |
void | start (bool wait=true) |
Call this method to start the thread. | |
void | cancel () |
Cancel a thread. | |
void | join () |
Join the thread. | |
void | detach () |
Detach the thread. | |
void | kill (int sig) |
Send signal to a thread. | |
bool | operator== (const Thread &thread) |
Check if two threads are the same. | |
void | wakeup () |
Wake up thread. | |
void | wakeup (Barrier *barrier) |
Wake up thread and wait for barrier afterwards. | |
void | wait_loop_done () |
Wait for the current loop iteration to finish. | |
OpMode | opmode () const |
Get operation mode. | |
pthread_t | thread_id () const |
Get ID of thread. | |
bool | started () const |
Check if thread has been started. | |
bool | cancelled () const |
Check if thread has been cancelled. | |
bool | detached () const |
Check if thread has been detached. | |
bool | running () const |
Check if the thread is running. | |
bool | waiting () const |
Check if thread is currently waiting for wakeup. | |
const char * | name () const |
Get name of thread. | |
void | set_flags (uint32_t flags) |
Set all flags in one go. | |
void | set_flag (uint32_t flag) |
Set flag for the thread. | |
void | unset_flag (uint32_t flag) |
Unset flag. | |
bool | flagged_bad () const |
Check if FLAG_BAD was set. | |
void | set_delete_on_exit (bool del) |
Set whether the thread should be deleted on exit. | |
void | set_prepfin_hold (bool hold) |
Hold prepare_finalize(). | |
void | add_notification_listener (ThreadNotificationListener *notification_listener) |
Add notification listener. | |
void | remove_notification_listener (ThreadNotificationListener *notification_listener) |
Remove notification listener. | |
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fawkes::RefPtr < fawkes::KatanaController > | _katana |
Katana object for interaction with the arm. | |
bool | _finished |
Set to true when motion is finished, to false on reset. | |
fawkes::Logger * | _logger |
Logger. | |
unsigned int | _error_code |
Set to the desired error code on error. | |
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bool | finalize_prepared |
True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. | |
Mutex * | loop_mutex |
Mutex that is used to protect a call to loop(). | |
Mutex * | loopinterrupt_antistarve_mutex |
Mutex to avoid starvation when trying to lock loop_mutex. |
class KatanaGotoOpenRaveThread
Katana collision-free goto thread.
This thread moves the arm into a specified position, using IK and path-planning from OpenRAVE.
Definition at line 42 of file goto_openrave_thread.h.