net::mc::tasks::ArmIKTask Class Reference

This task sets the arm joint positions to track the current IK command. More...

#include <MissionControlTasks.h>

Inheritance diagram for net::mc::tasks::ArmIKTask:

Collaboration diagram for net::mc::tasks::ArmIKTask:

Public Member Functions
	ArmIKTask (websocket::SingleClientWSServer &server)
Public Member Functions inherited from util::PeriodicTask< Clock >
	PeriodicTask (const std::chrono::milliseconds &period, const std::function< void()> &f)
	Construct a new periodic task.
Public Member Functions inherited from util::AsyncTask< std::chrono::steady_clock >
	AsyncTask (const std::optional< std::string > &name=std::nullopt)
	Construct a new task.
	AsyncTask (const AsyncTask &)=delete
AsyncTask &	operator= (const AsyncTask &)=delete
virtual void	start ()
	Start the task.
virtual void	stop ()
	Stop the task and wait for it to finish.
bool	isRunning ()
	Check if the task is running.

Additional Inherited Members
Protected Member Functions inherited from util::PeriodicTask< Clock >
void	task (std::unique_lock< std::mutex > &lock) override
	The long-running task, overridden by client code.
void	notify () override
	Not for use by client code.
Protected Member Functions inherited from util::AsyncTask< std::chrono::steady_clock >
bool	isRunningInternal ()
	Version of AsyncTask::isRunning() that does no synchronization.
bool	wait_until (std::unique_lock< std::mutex > &lock, const std::chrono::time_point< std::chrono::steady_clock > &tp)
	Wait until the specified time point, or until the task has been stopped.
bool	wait_for (std::unique_lock< std::mutex > &lock, const std::chrono::duration< Rep, Period > &dur)
	Wait for a given duration, or until the task has been stopped.
void	wait_until_done (std::unique_lock< std::mutex > &lock)
	Wait until the task has been stopped.

Detailed Description

This task sets the arm joint positions to track the current IK command.

This task should be enabled and disabled to be kept in sync with Globals::armIKEnabled

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The documentation for this class was generated from the following files:

• src/network/MissionControlTasks.h
• src/network/MissionControlTasks.cpp