Fawkes API
Fawkes Development Version
bimanual_act_thread.h
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/***************************************************************************
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* bimanual_act_thread.h - Jaco plugin act-thread for coordinated bimanual manipulation
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*
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* Created: Mon Sep 29 03:13:20 2014
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* Copyright 2014 Bahram Maleki-Fard
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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_JACO_BIMANUAL_ACT_THREAD_H_
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#define _PLUGINS_JACO_BIMANUAL_ACT_THREAD_H_
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#include <aspect/blackboard.h>
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#include <aspect/blocked_timing.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <core/threading/thread.h>
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namespace
fawkes
{
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typedef
struct
jaco_dual_arm_struct
jaco_dual_arm_t
;
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}
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class
JacoBimanualActThread
:
public
fawkes::Thread
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::BlackBoardAspect
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{
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public
:
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JacoBimanualActThread
(
fawkes::jaco_dual_arm_t
*arms);
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virtual
~JacoBimanualActThread
();
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virtual
void
init
();
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virtual
void
finalize
();
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virtual
void
loop
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
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virtual
void
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run
()
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{
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Thread::run();
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}
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private
:
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fawkes::jaco_dual_arm_t
*arms_;
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};
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#endif
JacoBimanualActThread
Definition:
bimanual_act_thread.h:36
JacoBimanualActThread::init
virtual void init()
Initialize.
Definition:
bimanual_act_thread.cpp:55
JacoBimanualActThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
bimanual_act_thread.h:53
fawkes::jaco_dual_arm_t
struct jaco_dual_arm_struct jaco_dual_arm_t
Jaco struct containing all components required for a dual-arm setup.
Definition:
bimanual_act_thread.h:39
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:56
JacoBimanualActThread::loop
virtual void loop()
Main loop.
Definition:
bimanual_act_thread.cpp:79
fawkes::jaco_dual_arm_struct
Jaco struct containing all components required for a dual-arm setup.
Definition:
types.h:112
JacoBimanualActThread::~JacoBimanualActThread
virtual ~JacoBimanualActThread()
Destructor.
Definition:
bimanual_act_thread.cpp:49
fawkes::BlackBoardAspect
Definition:
blackboard.h:38
fawkes
fawkes::LoggingAspect
Definition:
logging.h:38
JacoBimanualActThread::JacoBimanualActThread
JacoBimanualActThread(fawkes::jaco_dual_arm_t *arms)
Constructor.
Definition:
bimanual_act_thread.cpp:41
fawkes::Thread
Definition:
thread.h:45
JacoBimanualActThread::finalize
virtual void finalize()
Finalize.
Definition:
bimanual_act_thread.cpp:63
fawkes::ConfigurableAspect
Definition:
configurable.h:38
src
plugins
jaco
bimanual_act_thread.h
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