Fawkes API  Fawkes Development Version
katana_plugin.cpp
00001 
00002 /***************************************************************************
00003  *  katana_plugin.cpp - Plugin to drive Neuronics' Katana arm
00004  *
00005  *  Created: Mon Jun 08 17:57:16 2009
00006  *  Copyright  2006-2008  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 #include "katana_plugin.h"
00024 #include "act_thread.h"
00025 #include "sensor_thread.h"
00026 
00027 using namespace fawkes;
00028 
00029 /** @class KatanaPlugin "katana_plugin.h"
00030  * Plugin to drive Neuronics' Katana arm with Fawkes.
00031  * This plugin integrates Neuronics' KNI library to control a Katana arm.
00032  * @author Tim Niemueller
00033  */
00034 
00035 /** Constructor.
00036  * @param config Fawkes configuration
00037  */
00038 KatanaPlugin::KatanaPlugin(Configuration *config)
00039   : Plugin(config)
00040 {
00041   KatanaActThread *act_thread = new KatanaActThread();
00042   thread_list.push_back(act_thread);
00043   thread_list.push_back(new KatanaSensorThread(act_thread));
00044 }
00045 
00046 
00047 PLUGIN_DESCRIPTION("Run Neuronics' Katana arm with Fawkes.")
00048 EXPORT_PLUGIN(KatanaPlugin)