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katana_plugin.cpp
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/***************************************************************************
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* katana_plugin.cpp - Plugin to drive Neuronics' Katana arm
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*
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* Created: Mon Jun 08 17:57:16 2009
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* Copyright 2006-2008 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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#include "katana_plugin.h"
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#include "act_thread.h"
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#include "sensor_thread.h"
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using namespace
fawkes;
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/** @class KatanaPlugin "katana_plugin.h"
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* Plugin to drive Neuronics' Katana arm with Fawkes.
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* This plugin integrates Neuronics' KNI library to control a Katana arm.
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* @author Tim Niemueller
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*/
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/** Constructor.
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* @param config Fawkes configuration
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*/
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KatanaPlugin::KatanaPlugin
(
Configuration
*config)
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:
Plugin
(config)
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{
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KatanaActThread
*act_thread =
new
KatanaActThread
();
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thread_list
.
push_back
(act_thread);
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thread_list
.
push_back
(
new
KatanaSensorThread
(act_thread));
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}
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PLUGIN_DESCRIPTION(
"Run Neuronics' Katana arm with Fawkes."
)
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EXPORT_PLUGIN(
KatanaPlugin
)
src
plugins
katana
katana_plugin.cpp
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