player_gripper_geom Struct Reference
Request/reply: get geometry. More...
#include <player_interfaces.h>
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. | |
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.
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: