23 #ifndef __PLUGINS_OPENRAVE_OPENRAVE_THREAD_H_ 24 #define __PLUGINS_OPENRAVE_OPENRAVE_THREAD_H_ 26 #include <plugins/openrave/aspect/openrave_connector.h> 27 #include <plugins/openrave/aspect/openrave_inifin.h> 29 #include <core/threading/thread.h> 30 #include <aspect/blocked_timing.h> 31 #include <aspect/logging.h> 32 #include <aspect/configurable.h> 33 #include <aspect/aspect_provider.h> 36 class OpenRaveEnvironment;
38 class OpenRaveManipulator;
55 virtual void finalize();
63 virtual void set_manipulator(
fawkes::OpenRaveManipulator* manip,
float trans_x=0.f,
float trans_y=0.f,
float trans_z=0.f,
bool calibrate=0);
66 virtual void start_viewer()
const;
71 virtual bool add_object(
const std::string& name,
const std::string& filename);
72 virtual bool delete_object(
const std::string& name);
73 virtual bool rename_object(
const std::string& name,
const std::string& new_name);
74 virtual bool move_object(
const std::string& name,
float trans_x,
float trans_y,
float trans_z,
fawkes::OpenRaveRobot* robot=NULL);
75 virtual bool rotate_object(
const std::string& name,
float quat_x,
float quat_y,
float quat_z,
float quat_w);
76 virtual bool rotate_object(
const std::string& name,
float rot_x,
float rot_y,
float rot_z);
77 virtual bool set_target_object(
const std::string& name,
fawkes::OpenRaveRobot* robot,
float rot_x = 0);
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
OpenRaveAspect initializer/finalizer.
OpenRaveEnvironment class.
Thread aspect to log output.
Class containing information about all manipulator motors.
Thread aspect provide a new aspect.
Thread aspect to access configuration data.
virtual void run()
Stub to see name in backtrace for easier debugging.
Interface for a OpenRave connection creator.