23#include "jaco_plugin.h"
25#include "act_thread.h"
26#include "bimanual_act_thread.h"
27#include "bimanual_goto_thread.h"
28#include "bimanual_openrave_thread.h"
29#include "goto_thread.h"
30#include "info_thread.h"
31#include "openrave_thread.h"
48 bool is_dual_arm =
config->
get_bool(
"/hardware/jaco/config/dual_arm");
96 openrave_thread_l = NULL;
97 openrave_thread_r = NULL;
140PLUGIN_DESCRIPTION(
"Jaco Plugin")
Jaco Arm act-thread for coordinate bimanual manipulation.
Jaco Arm movement thread.
Jaco Arm thread for dual-arm setup, integrating OpenRAVE.
Jaco Arm movement thread.
Jaco Arm information thread.
Jaco Arm thread for single-arm setup, integrating OpenRAVE.
JacoPlugin(fawkes::Configuration *config)
Constructor.
Interface for configuration handling.
virtual bool get_bool(const char *path)=0
Get value from configuration which is of type bool.
ThreadList thread_list
Thread list member.
Configuration * config
Fawkes configuration.
void push_back(Thread *thread)
Add thread to the end.
Fawkes library namespace.
@ CONFIG_SINGLE
we only have one arm.
@ CONFIG_LEFT
this arm is the left one out of two.
@ CONFIG_RIGHT
this arm is the right one out of two.
Jaco struct containing all components required for one arm.
jaco_arm_config_t config
configuration for this arm
JacoGotoThread * goto_thread
the GotoThread of this arm.
JacoOpenraveThread * openrave_thread
the OpenraveThread of this arm.
Jaco struct containing all components required for a dual-arm setup.
JacoBimanualGotoThread * goto_thread
GotoThread for coordinated manipulation.
jaco_arm_t * right
the struct with all the data for the right arm.
JacoBimanualOpenraveThread * openrave_thread
OpenraveThread for coordinated manipulation.
jaco_arm_t * left
the struct with all the data for the left arm.