Fawkes API Fawkes Development Version
motion_thread.h
1
2/***************************************************************************
3 * motion_thread.h - Katana one-time thread interface for motions
4 *
5 * Created: Wed Jun 10 11:20:18 2009
6 * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
7 * 2012-2014 Bahram Maleki-Fard
8 *
9 ****************************************************************************/
10
11/* This program is free software; you can redistribute it and/or modify
12 * it under the terms of the GNU General Public License as published by
13 * the Free Software Foundation; either version 2 of the License, or
14 * (at your option) any later version.
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL file in the doc directory.
22 */
23
24#ifndef _PLUGINS_KATANA_MOTION_THREAD_H_
25#define _PLUGINS_KATANA_MOTION_THREAD_H_
26
27#include <core/threading/thread.h>
28#include <core/utils/refptr.h>
29#include <logging/logger.h>
30
31namespace fawkes {
32class KatanaController;
33}
34
36{
37public:
38 KatanaMotionThread(const char * thread_name,
40 fawkes::Logger * logger);
41
42 bool finished() const;
43 virtual void reset();
44 unsigned int error_code() const;
45
46protected:
47 /** Katana object for interaction with the arm */
49 /** Set to true when motion is finished, to false on reset */
51 /** Logger */
53 /** Set to the desired error code on error */
54 unsigned int _error_code;
55};
56
57#endif
Katana motion thread base class.
Definition: motion_thread.h:36
fawkes::Logger * _logger
Logger.
Definition: motion_thread.h:52
virtual void reset()
Reset for next execution.
fawkes::RefPtr< fawkes::KatanaController > _katana
Katana object for interaction with the arm.
Definition: motion_thread.h:48
bool _finished
Set to true when motion is finished, to false on reset.
Definition: motion_thread.h:50
unsigned int error_code() const
Error code.
unsigned int _error_code
Set to the desired error code on error.
Definition: motion_thread.h:54
KatanaMotionThread(const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
Constructor.
bool finished() const
Did the motion finish already?
Interface for logging.
Definition: logger.h:42
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.