Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * gripper_thread.h - Katana gripper one-time thread 00004 * 00005 * Created: Thu Jun 11 11:56:46 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_GRIPPER_THREAD_H_ 00024 #define __PLUGINS_KATANA_GRIPPER_THREAD_H_ 00025 00026 #include "motion_thread.h" 00027 00028 class KatanaGripperThread : public KatanaMotionThread 00029 { 00030 public: 00031 KatanaGripperThread(fawkes::RefPtr<CLMBase> katana, fawkes::Logger *logger, 00032 unsigned int poll_interval_ms); 00033 00034 /** Gripper execution mode. */ 00035 typedef enum { 00036 OPEN_GRIPPER, /**< Open gripper */ 00037 CLOSE_GRIPPER /**< Close gripper */ 00038 } gripper_mode_t; 00039 00040 void set_mode(gripper_mode_t mode); 00041 virtual void once(); 00042 00043 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00044 protected: virtual void run() { Thread::run(); } 00045 00046 private: 00047 gripper_mode_t __mode; 00048 unsigned int __poll_interval_usec; 00049 }; 00050 00051 00052 #endif