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
std::thread	planningThread
std::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

PlanningThread()

Saba::PlanningThread::PlanningThread

(

MotionPlannerPtr

planner

)

constructor

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

Parameters

planner

The planner to be started.

~PlanningThread()

Saba::PlanningThread::~PlanningThread ( )

virtual

destructor

Member Function Documentation

getPlanner()

MotionPlannerPtr Saba::PlanningThread::getPlanner

(

)

interrupt()

void Saba::PlanningThread::interrupt ( bool  waitUntilStopped = false )

virtual

Send an interrupt signal to thread.

Parameters

waitUntilStopped

If false this method returns immediately. Otherwise we wait until the thread has been successfully interrupted.

isRunning()

bool Saba::PlanningThread::isRunning

(

)

Returns

True if the planning thread is operating

start()

void Saba::PlanningThread::start ( )

virtual

Start the planning in an own thread.

stop()

void Saba::PlanningThread::stop

(

)

Same as interrupt(true)

workingMethod()

void Saba::PlanningThread::workingMethod ( )

protected

Here the planning takes place.

Field Documentation

mutex

std::mutex Saba::PlanningThread::mutex

protected

planner

MotionPlannerPtr Saba::PlanningThread::planner

protected

plannerFinished

bool Saba::PlanningThread::plannerFinished

protected

planningThread

std::thread Saba::PlanningThread::planningThread

protected

threadStarted

bool Saba::PlanningThread::threadStarted

protected