#include <goto_thread.h>
Inheritance diagram for KatanaGotoThread:
Public Member Functions | |
KatanaGotoThread (fawkes::RefPtr< CLMBase > katana, fawkes::Logger *logger, unsigned int poll_interval_ms) | |
Constructor. | |
void | set_target (float x, float y, float z, float phi, float theta, float psi) |
Set target position. | |
virtual void | once () |
Execute an action exactly once. | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. |
This thread moves the arm into a specified position.
Definition at line 28 of file goto_thread.h.
KatanaGotoThread::KatanaGotoThread | ( | fawkes::RefPtr< CLMBase > | katana, | |
fawkes::Logger * | logger, | |||
unsigned int | poll_interval_ms | |||
) |
Constructor.
katana | katana linear motion base class | |
logger | logger | |
poll_interval_ms | interval in ms between two checks if the final position has been reached |
Definition at line 40 of file goto_thread.cpp.
void KatanaGotoThread::once | ( | ) | [virtual] |
Execute an action exactly once.
This code is executed once and only once right after the thread is started before loop() is called. This is useful if you want to implement an one-shot background job. Just implement once() and leave once() untouched. Start the thread and detach it and it will just do its job and then die automatically. If you use set_delete_on_exit(true) even the Thread instance will be automatically deleted.
Reimplemented from fawkes::Thread.
Definition at line 71 of file goto_thread.cpp.
References KatanaMotionThread::_error_code, KatanaMotionThread::_finished, KatanaMotionThread::_katana, KatanaMotionThread::_logger, fawkes::KatanaInterface::ERROR_CMD_START_FAILED, fawkes::KatanaInterface::ERROR_COMMUNICATION, fawkes::KatanaInterface::ERROR_MOTOR_CRASHED, fawkes::KatanaInterface::ERROR_NO_SOLUTION, fawkes::Logger::log_debug(), fawkes::Logger::log_warn(), and fawkes::Thread::name().
virtual void KatanaGotoThread::run | ( | ) | [inline, protected, virtual] |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 38 of file goto_thread.h.
void KatanaGotoThread::set_target | ( | float | x, | |
float | y, | |||
float | z, | |||
float | phi, | |||
float | theta, | |||
float | psi | |||
) |
Set target position.
x | X coordinate relative to base | |
y | Y coordinate relative to base | |
z | Z coordinate relative to base | |
phi | Phi Euler angle of tool | |
theta | Theta Euler angle of tool | |
psi | Psi Euler angle of tool |
Definition at line 58 of file goto_thread.cpp.