Fawkes API Fawkes Development Version
gripper_thread.h
1
2/***************************************************************************
3 * gripper_thread.h - Katana gripper one-time thread
4 *
5 * Created: Thu Jun 11 11:56:46 2009
6 * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
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_KATANA_GRIPPER_THREAD_H_
24#define _PLUGINS_KATANA_GRIPPER_THREAD_H_
25
26#include "motion_thread.h"
27
29{
30public:
32 fawkes::Logger * logger,
33 unsigned int poll_interval_ms);
34
35 /** Gripper execution mode. */
36 typedef enum {
37 OPEN_GRIPPER, /**< Open gripper */
38 CLOSE_GRIPPER /**< Close gripper */
40
41 void set_mode(gripper_mode_t mode);
42 virtual void once();
43
44 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
45protected:
46 virtual void
48 {
49 Thread::run();
50 }
51
52private:
53 gripper_mode_t mode_;
54 unsigned int poll_interval_usec_;
55};
56
57#endif
Katana gripper thread.
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.
Definition: motion_thread.h:36
Interface for logging.
Definition: logger.h:42