player_gripper_geom Struct Reference

Request/reply: get geometry. More...

#include <player_interfaces.h>

Collaboration diagram for player_gripper_geom:

List of all members.


Detailed Description

Request/reply: get geometry.

The geometry (pose, outer size and inner size) of the gripper device can be queried by sending a null PLAYER_GRIPPER_REQ_GET_GEOM request.

Public Attributes

player_pose3d_t pose
 Gripper pose, in robot cs (m, m, m, rad, rad, rad).
player_bbox3d_t outer_size
 Outside dimensions of gripper (m, m, m).
player_bbox3d_t inner_size
 Inside dimensions of gripper, i.e.
uint8_t num_beams
 Number of breakbeams the gripper has.
uint8_t capacity
 Capacity for storing objects - if 0, then the gripper can't store.

Member Data Documentation

Inside dimensions of gripper, i.e.

the size of the space between the fingers when they are fully open (m, m, m)

Outside dimensions of gripper (m, m, m).

Gripper pose, in robot cs (m, m, m, rad, rad, rad).


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