Pioneer2_Gripper.hh

00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /*
00022  * Desc: Controller for a pioneer2 gripper
00023  * Author: Nathan Koenig
00024  * Date: 01 Feb 2007
00025  * SVN: $Id: Pioneer2_Gripper.hh 123 2007-09-19 20:36:14Z natepak $
00026  */
00027 #ifndef PIONEER2_GRIPPER_HH
00028 #define PIONEER2_GRIPPER_HH
00029 
00030 
00031 #include "Controller.hh"
00032 #include "Entity.hh"
00033 
00034 namespace gazebo
00035 {
00036   class SliderJoint;
00037   class GripperIface;
00038 
00041 
00058 
00059 
00060 class Pioneer2_Gripper : public Controller
00061 {
00063   public: Pioneer2_Gripper(Entity *parent);
00064 
00066   public: virtual ~Pioneer2_Gripper();
00067 
00071   protected: virtual void LoadChild(XMLConfigNode *node);
00072 
00075   protected: virtual void InitChild();
00076 
00079   protected: virtual void UpdateChild(UpdateParams &params);
00080 
00083   protected: virtual void FiniChild();
00084 
00086   private: GripperIface *myIface;
00087 
00089   private: Model *myParent;
00090 
00091   private: SliderJoint *joints[2];
00092 
00093 };
00094 
00096 
00097 
00098 }
00099 
00100 #endif
00101
Last updated Aug 04 2007