goto_thread.h

00001 
00002 /***************************************************************************
00003  *  goto_thread.h - Katana goto one-time thread
00004  *
00005  *  Created: Wed Jun 10 11:44:24 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_GOTO_THREAD_H_
00024 #define __PLUGINS_KATANA_GOTO_THREAD_H_
00025 
00026 #include "motion_thread.h"
00027 
00028 class KatanaGotoThread : public KatanaMotionThread
00029 {
00030  public:
00031   KatanaGotoThread(fawkes::RefPtr<CLMBase> katana, fawkes::Logger *logger,
00032                    unsigned int poll_interval_ms);
00033 
00034   void set_target(float x, float y, float z, float phi, float theta, float psi);
00035   virtual void once();
00036 
00037  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00038  protected: virtual void run() { Thread::run(); }
00039 
00040  private:
00041   float __x, __y, __z;
00042   float __phi, __theta, __psi;
00043   unsigned int __poll_interval_usec;
00044 };
00045 
00046 
00047 #endif

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