Fawkes API  Fawkes Development Version
motion_thread.h
00001 
00002 /***************************************************************************
00003  *  motion_thread.h - Katana one-time thread interface for motions
00004  *
00005  *  Created: Wed Jun 10 11:20:18 2009
00006  *  Copyright  2006-2009  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_KATANA_MOTION_THREAD_H_
00024 #define __PLUGINS_KATANA_MOTION_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <utils/logging/logger.h>
00028 #include <core/utils/refptr.h>
00029 #include <interfaces/KatanaInterface.h>
00030 
00031 // Classes from libkni (KNI)
00032 class CLMBase;
00033 
00034 class KatanaMotionThread
00035 : public fawkes::Thread
00036 {
00037  public:
00038   KatanaMotionThread(const char *thread_name,
00039                      fawkes::RefPtr<CLMBase> katana, fawkes::Logger *logger);
00040 
00041   bool finished() const;
00042   virtual void reset();
00043   unsigned int error_code() const;
00044 
00045  protected:
00046   /** Katana object for interaction with the arm */
00047   fawkes::RefPtr<CLMBase>  _katana;
00048   /** Set to true when motion is finished, to false on reset */
00049   bool                     _finished;
00050   /** Logger */
00051   fawkes::Logger          *_logger;
00052   /** Set to the desired error code on error */
00053   unsigned int             _error_code;
00054 
00055 };
00056 
00057 
00058 #endif