Fawkes API
Fawkes Development Version
|
24 #ifndef _PLUGINS_JACO_TYPES_H_
25 #define _PLUGINS_JACO_TYPES_H_
27 #include <core/utils/refptr.h>
JacoGotoThread * goto_thread
the GotoThread of this arm.
planner could not plan a collision-free trajectory.
enum fawkes::jaco_target_type_enum jaco_target_type_t
The type of a target.
jaco_arm_t * right
the struct with all the data for the right arm.
struct jaco_arm_struct jaco_arm_t
Jaco struct containing all components required for one arm.
fawkes::RefPtr< jaco_trajec_t > trajec
trajectory, if target is TARGET_TRAJEC.
jaco_target_type_t type
target type.
trajectory is being executed.
struct jaco_dual_arm_struct jaco_dual_arm_t
Jaco struct containing all components required for a dual-arm setup.
planner is planning the trajectory.
float trajec_color[4]
the color used for plotting the trajectory.
this arm is the right one out of two.
JacoInterface * iface
pointer to JacoInterface, assigned to this arm
target is the READY position of the Jaco arm.
target with angular coordinates.
jaco_trajec_point_t pos
target position (interpreted depending on target type).
JacoOpenraveThread * openrave_thread
the OpenraveThread of this arm.
jaco_target_type_enum
The type of a target.
struct fawkes::jaco_target_struct_t jaco_target_t
Jaco target struct, holding information on a target.
jaco_trajec_state_t trajec_state
state of the trajectory, if target is TARGET_TRAJEC.
this arm is the left one out of two.
Jaco struct containing all components required for a dual-arm setup.
fawkes::JacoArm * arm
pointer to actual JacoArm instance, controlling this arm
skip trajectory planning for this target.
enum fawkes::jaco_arm_config_enum jaco_arm_config_t
The setup-configuration of the arm.
Jaco target struct, holding information on a target.
RefPtr< Mutex > target_mutex
mutex, used for accessing the target_queue
target with cartesian coordinates.
new trajectory target, wait for planner to process.
jaco_arm_t * left
the struct with all the data for the left arm.
JacoBimanualOpenraveThread * openrave_thread
OpenraveThread for coordinated manipulation.
RefPtr< jaco_target_queue_t > target_queue
queue of targets, which is processed FIFO.
std::vector< jaco_trajec_point_t > jaco_trajec_t
A trajectory.
target is the RETRACT position of the Jaco arm.
Jaco struct containing all components required for one arm.
std::vector< float > jaco_trajec_point_t
A trajectory point.
jaco_arm_config_enum
The setup-configuration of the arm.
bool coord
this target needs to be coordinated with targets of other arms.
JacoBimanualGotoThread * goto_thread
GotoThread for coordinated manipulation.
trajectory has been planned and is ready for execution.
jaco_trajec_state_enum
The state of a trajectory.
jaco_arm_config_t config
configuration for this arm
std::list< RefPtr< jaco_target_t > > jaco_target_queue_t
FIFO target queue, holding RefPtr to targets.
RefPtr< Mutex > trajec_mutex
mutex, used for modifying trajectory of a target.
JacoBimanualInterface * iface
interface used for coordinated manipulation.
enum fawkes::jaco_trajec_state_enum jaco_trajec_state_t
The state of a trajectory.
jaco_trajec_point_t fingers
target finger values.
planner could not find IK solution for target