Simox  2.3.49
Saba::PlanningThread Class Reference

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW PlanningThread (MotionPlannerPtr planner)
 constructor More...
 
virtual ~PlanningThread ()
 destructor More...
 
virtual void start ()
 
virtual void interrupt (bool waitUntilStopped=false)
 
void stop ()
 
bool isRunning ()
 
MotionPlannerPtr getPlanner ()
 

Protected Member Functions

void workingMethod ()
 

Protected Attributes

bool threadStarted
 
bool plannerFinished
 
MotionPlannerPtr planner
 
boost::thread planningThread
 
boost::mutex mutex
 

Detailed Description

The GraspIkRrt planner combines the search for a feasible grasp and an IK solution with the search for a collision-free motion.

Constructor & Destructor Documentation

Saba::PlanningThread::PlanningThread ( MotionPlannerPtr  planner)

constructor

Constructor The thread is not started until you call start()

Parameters
plannerThe planner to be started.
Saba::PlanningThread::~PlanningThread ( )
virtual

destructor

Member Function Documentation

MotionPlannerPtr Saba::PlanningThread::getPlanner ( )
void Saba::PlanningThread::interrupt ( bool  waitUntilStopped = false)
virtual

Send an interrupt signal to thread.

Parameters
waitUntilStoppedIf false this method returns immediately. Otherwise we wait until the thread has been successfully interrupted.
bool Saba::PlanningThread::isRunning ( )
Returns
True if the planning thread is operating
void Saba::PlanningThread::start ( )
virtual

Start the planning in an own thread.

void Saba::PlanningThread::stop ( )

Same as interrupt(true)

void Saba::PlanningThread::workingMethod ( )
protected

Here the planning takes place.

Field Documentation

boost::mutex Saba::PlanningThread::mutex
protected
MotionPlannerPtr Saba::PlanningThread::planner
protected
bool Saba::PlanningThread::plannerFinished
protected
boost::thread Saba::PlanningThread::planningThread
protected
bool Saba::PlanningThread::threadStarted
protected