23#ifndef _PLUGINS_KATANA_GRIPPER_THREAD_H_
24#define _PLUGINS_KATANA_GRIPPER_THREAD_H_
26#include "motion_thread.h"
33 unsigned int poll_interval_ms);
54 unsigned int poll_interval_usec_;
void set_mode(gripper_mode_t mode)
Set mode.
gripper_mode_t
Gripper execution mode.
@ CLOSE_GRIPPER
Close gripper.
@ OPEN_GRIPPER
Open gripper.
virtual void once()
Execute an action exactly once.
KatanaGripperThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
Katana motion thread base class.