playerc_gripper_t Struct Reference

Gripper device data. More...

#include <playerc.h>

Collaboration diagram for playerc_gripper_t:
Collaboration graph

Detailed Description

Gripper device data.

Public Attributes

playerc_device_t info
 Device info; must be at the start of all device structures. More...
 
player_pose3d_t pose
 Gripper geometry in the robot cs: pose gives the position and orientation, outer_size gives the extent when open inner_size gives the size of the space between the open fingers These values are initially zero, but can be filled in by calling playerc_gripper_get_geom(). More...
 
player_bbox3d_t outer_size
 
player_bbox3d_t inner_size
 
uint8_t num_beams
 The number of breakbeams the gripper has.
 
uint8_t capacity
 The capacity of the gripper's store - if 0, the gripper cannot store.
 
uint8_t state
 The gripper's state: may be one of PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED, PLAYER_GRIPPER_STATE_MOVING or PLAYER_GRIPPER_STATE_ERROR. More...
 
uint32_t beams
 The position of the object in the gripper.
 
uint8_t stored
 The number of currently-stored objects.
 

Member Data Documentation

◆ info

playerc_device_t playerc_gripper_t::info

Device info; must be at the start of all device structures.

◆ pose

player_pose3d_t playerc_gripper_t::pose

Gripper geometry in the robot cs: pose gives the position and orientation, outer_size gives the extent when open inner_size gives the size of the space between the open fingers These values are initially zero, but can be filled in by calling playerc_gripper_get_geom().

Referenced by PlayerCc::GripperProxy::GetPose().

◆ state

uint8_t playerc_gripper_t::state

The gripper's state: may be one of PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED, PLAYER_GRIPPER_STATE_MOVING or PLAYER_GRIPPER_STATE_ERROR.

Referenced by PlayerCc::GripperProxy::GetState().


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