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Fawkes API
Fawkes Development Version
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Fawkes API
Fawkes Development Version
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class KatanaGotoOpenRaveThread More...
#include <goto_openrave_thread.h>
Additional Inherited Members | |
 Public Member Functions inherited from KatanaMotionThread | |
| KatanaMotionThread (const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger) | |
| Constructor. | |
| bool | finished () const |
| Did the motion finish already? | |
| virtual void | reset () |
| Reset for next execution. | |
| unsigned int | error_code () const |
| Error code. | |
| Public Member Functions inherited from fawkes::Thread | |
| virtual | ~Thread () |
| Virtual destructor. | |
| virtual void | init () |
| Initialize the thread. | |
| bool | prepare_finalize () |
| Prepare finalization. | |
| virtual bool | prepare_finalize_user () |
| Prepare finalization user implementation. | |
| virtual void | finalize () |
| Finalize the thread. | |
| void | cancel_finalize () |
| Cancel finalization. | |
| void | start (bool wait=true) |
| Call this method to start the thread. | |
| void | cancel () |
| Cancel a thread. | |
| void | join () |
| Join the thread. | |
| void | detach () |
| Detach the thread. | |
| void | kill (int sig) |
| Send signal to a thread. | |
| bool | operator== (const Thread &thread) |
| Check if two threads are the same. | |
| void | wakeup () |
| Wake up thread. | |
| void | wakeup (Barrier *barrier) |
| Wake up thread and wait for barrier afterwards. | |
| void | wait_loop_done () |
| Wait for the current loop iteration to finish. | |
| OpMode | opmode () const |
| Get operation mode. | |
| pthread_t | thread_id () const |
| Get ID of thread. | |
| bool | started () const |
| Check if thread has been started. | |
| bool | cancelled () const |
| Check if thread has been cancelled. | |
| bool | detached () const |
| Check if thread has been detached. | |
| bool | running () const |
| Check if the thread is running. | |
| bool | waiting () const |
| Check if thread is currently waiting for wakeup. | |
| const char * | name () const |
| Get name of thread. | |
| void | set_flags (uint32_t flags) |
| Set all flags in one go. | |
| void | set_flag (uint32_t flag) |
| Set flag for the thread. | |
| void | unset_flag (uint32_t flag) |
| Unset flag. | |
| bool | flagged_bad () const |
| Check if FLAG_BAD was set. | |
| void | set_delete_on_exit (bool del) |
| Set whether the thread should be deleted on exit. | |
| void | set_prepfin_hold (bool hold) |
| Hold prepare_finalize(). | |
| void | add_notification_listener (ThreadNotificationListener *notification_listener) |
| Add notification listener. | |
| void | remove_notification_listener (ThreadNotificationListener *notification_listener) |
| Remove notification listener. | |
| Protected Attributes inherited from KatanaMotionThread | |
| fawkes::RefPtr < fawkes::KatanaController > | _katana |
| Katana object for interaction with the arm. | |
| bool | _finished |
| Set to true when motion is finished, to false on reset. | |
| fawkes::Logger * | _logger |
| Logger. | |
| unsigned int | _error_code |
| Set to the desired error code on error. | |
| Protected Attributes inherited from fawkes::Thread | |
| bool | finalize_prepared |
| True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. | |
| Mutex * | loop_mutex |
| Mutex that is used to protect a call to loop(). | |
| Mutex * | loopinterrupt_antistarve_mutex |
| Mutex to avoid starvation when trying to lock loop_mutex. | |
class KatanaGotoOpenRaveThread
Katana collision-free goto thread.
This thread moves the arm into a specified position, using IK and path-planning from OpenRAVE.
Definition at line 42 of file goto_openrave_thread.h.
1.8.1.1 
