KatanaMotionThread Class Reference

Katana motion thread base class. More...

#include <motion_thread.h>

Inheritance diagram for KatanaMotionThread:


Public Member Functions
	KatanaMotionThread (const char thread_name, fawkes::RefPtr< CLMBase > 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.
Protected Attributes
fawkes::RefPtr< CLMBase >	_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.

Detailed Description

Katana motion thread base class.

Base class for motion threads for the Katana.

When implementing a motion thread ensure that you read the sensor data during the communication with the arm. The main (act) thread will not do this as not to interfere with motion thread communication. You can use code like this:

 _katana->GetBase()->GetSCT()->arr[0].recvDAT(); // update sensor values

Author:: Tim Niemueller.

Definition at line 34 of file motion_thread.h.

Constructor & Destructor Documentation

KatanaMotionThread::KatanaMotionThread	(	const char *	thread_name,
		fawkes::RefPtr< CLMBase >	katana,
		fawkes::Logger *	logger
	)

Constructor.

Parameters:

	thread_name	name of the thread
	katana	katana linear motion base class
	logger	logger

Definition at line 46 of file motion_thread.cpp.

References _error_code, _finished, _katana, and _logger.

Member Function Documentation

unsigned int KatanaMotionThread::error_code ( ) const

Error code.

Returns:: error code, one or more of the ERROR_* constants from the KatanaInterface or'ed.

Definition at line 73 of file motion_thread.cpp.

References _error_code.

bool KatanaMotionThread::finished ( ) const

Did the motion finish already?

Returns:: true if the motion was finished, flase otherwise

Definition at line 62 of file motion_thread.cpp.

References _finished.

void KatanaMotionThread::reset ( void ) [virtual]

Reset for next execution.

Resets _finished and _error_code. If you override this method call the base class method in your method. It should be used to do anything that is required to be able to run the thread again.

Definition at line 85 of file motion_thread.cpp.

References _error_code, and _finished.