PlayerCc::GripperProxy Class Reference

The GripperProxy class is used to control a gripper device. More...

#include <playerc++.h>

Inheritance diagram for PlayerCc::GripperProxy:
Collaboration diagram for PlayerCc::GripperProxy:

List of all members.


Detailed Description

The GripperProxy class is used to control a gripper device.

The latest gripper data is held in a handful of class attributes.

Public Member Functions

 GripperProxy (PlayerClient *aPc, uint32_t aIndex=0)
 Constructor.
 ~GripperProxy ()
 Destructor.
void RequestGeometry (void)
 Geometry request - call before getting the geometry of the gripper through an accessor method.
uint32_t GetState () const
 Get the gripper state.
uint32_t GetBeams () const
 Get the gripper break beam info.
player_pose3d_t GetPose () const
 Get the pose of the gripper.
player_bbox3d_t GetOuterSize () const
 Get the outer size of the gripper.
player_bbox3d_t GetInnerSize () const
 Get the inner size of the gripper.
uint32_t GetNumBeams () const
 Get the number of breakbeams in the gripper.
uint32_t GetCapacity () const
 Get the capacity of the gripper's storage.
uint32_t GetStored () const
 Get the number of currently-stored objects.
void Open ()
 Command the gripper to open.
void Close ()
 Command the gripper to close.
void Stop ()
 Command the gripper to stop.
void Store ()
 Command the gripper to store.
void Retrieve ()
 Command the gripper to retrieve.

Private Member Functions

void Subscribe (uint32_t aIndex)
void Unsubscribe ()

Private Attributes

playerc_gripper_tmDevice

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