Fawkes API  Fawkes Development Version
bimanual_act_thread.h
1 
2 /***************************************************************************
3  * bimanual_act_thread.h - Jaco plugin act-thread for coordinated bimanual manipulation
4  *
5  * Created: Mon Sep 29 03:13:20 2014
6  * Copyright 2014 Bahram Maleki-Fard
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_JACO_BIMANUAL_ACT_THREAD_H_
24 #define _PLUGINS_JACO_BIMANUAL_ACT_THREAD_H_
25 
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 
32 namespace fawkes {
33 typedef struct jaco_dual_arm_struct jaco_dual_arm_t;
34 }
35 
38  public fawkes::LoggingAspect,
41 {
42 public:
44  virtual ~JacoBimanualActThread();
45 
46  virtual void init();
47  virtual void finalize();
48  virtual void loop();
49 
50  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
51 protected:
52  virtual void
53  run()
54  {
55  Thread::run();
56  }
57 
58 private:
60 };
61 
62 #endif
JacoBimanualActThread
Definition: bimanual_act_thread.h:35
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:52
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:37
fawkes::BlockedTimingAspect
Definition: blocked_timing.h:54
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:111
JacoBimanualActThread::~JacoBimanualActThread
virtual ~JacoBimanualActThread()
Destructor.
Definition: bimanual_act_thread.cpp:49
fawkes::BlackBoardAspect
Definition: blackboard.h:36
fawkes
fawkes::LoggingAspect
Definition: logging.h:36
JacoBimanualActThread::JacoBimanualActThread
JacoBimanualActThread(fawkes::jaco_dual_arm_t *arms)
Constructor.
Definition: bimanual_act_thread.cpp:41
fawkes::Thread
Definition: thread.h:44
JacoBimanualActThread::finalize
virtual void finalize()
Finalize.
Definition: bimanual_act_thread.cpp:63
fawkes::ConfigurableAspect
Definition: configurable.h:36