23 #ifndef _PLUGINS_JACO_BIMANUAL_GOTO_THREAD_H_
24 #define _PLUGINS_JACO_BIMANUAL_GOTO_THREAD_H_
28 #include <aspect/blackboard.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <core/threading/thread.h>
52 virtual void move_gripper(
float l_f1,
float l_f2,
float l_f3,
float r_f1,
float r_f2,
float r_f3);
63 void _lock_queues()
const;
64 void _unlock_queues()
const;
68 void _move_grippers();
73 typedef struct arm_struct
86 arm_struct_t *v_arms_[2];
Jaco Arm movement thread.
JacoBimanualGotoThread(fawkes::jaco_dual_arm_t *arms)
Constructor.
virtual void stop()
Stops the current movement.
virtual void init()
Initialize the thread.
virtual void loop()
The main loop of this thread.
virtual ~JacoBimanualGotoThread()
Destructor.
virtual void move_gripper(float l_f1, float l_f2, float l_f3, float r_f1, float r_f2, float r_f3)
Moves only the gripper of both arms.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Thread aspect to access configuration data.
Thread aspect to log output.
Mutex mutual exclusion lock.
RefPtr<> is a reference-counting shared smartpointer.
Thread class encapsulation of pthreads.
Fawkes library namespace.
Jaco struct containing all components required for one arm.
Jaco struct containing all components required for a dual-arm setup.