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:

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.
Public Member Functions inherited from PlayerCc::ClientProxy
bool	IsValid () const
	Proxy has any information. More...
bool	IsFresh () const
	Check for fresh data. More...
void	NotFresh ()
	Reset Fresh flag. More...
std::string	GetDriverName () const
	Get the underlying driver's name. More...
double	GetDataTime () const
	Returns the received timestamp of the last data sample [s].
double	GetElapsedTime () const
	Returns the time between the current data time and the time of the last data sample [s].
PlayerClient *	GetPlayerClient () const
	Get a pointer to the Player Client. More...
uint32_t	GetIndex () const
	Get device index. More...
uint32_t	GetInterface () const
	Get Interface Code. More...
std::string	GetInterfaceStr () const
	Get Interface Name. More...
void	SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1)
	Set a replace rule for this proxy on the server. More...
int	HasCapability (uint32_t aType, uint32_t aSubtype)
	Request capabilities of device. More...
int	GetBoolProp (char *aProperty, bool *aValue)
	Request a boolean property. More...
int	SetBoolProp (char *aProperty, bool aValue)
	Set a boolean property. More...
int	GetIntProp (char *aProperty, int32_t *aValue)
	Request an integer property. More...
int	SetIntProp (char *aProperty, int32_t aValue)
	Set an integer property. More...
int	GetDblProp (char *aProperty, double *aValue)
	Request a double property. More...
int	SetDblProp (char *aProperty, double aValue)
	Set a double property. More...
int	GetStrProp (char *aProperty, char **aValue)
	Request a string property. More...
int	SetStrProp (char *aProperty, char *aValue)
	Set a string property. More...
template<typename T >
connection_t	ConnectReadSignal (T aSubscriber)
	Connect a read signal to this proxy. More...
void	DisconnectReadSignal (connection_t aSubscriber)
	Disconnect a signal from this proxy. More...

Private Member Functions
void	Subscribe (uint32_t aIndex)
void	Unsubscribe ()

Private Attributes
playerc_gripper_t *	mDevice

Additional Inherited Members
Public Types inherited from PlayerCc::ClientProxy
typedef int	connection_t
typedef boost::mutex::scoped_lock	scoped_lock_t
typedef int	read_signal_t
Protected Member Functions inherited from PlayerCc::ClientProxy
	ClientProxy (PlayerClient *aPc, uint32_t aIndex)
template<typename T >
T	GetVar (const T &aV) const
template<typename T >
void	GetVarByRef (const T aBegin, const T aEnd, T aDest) const
Protected Attributes inherited from PlayerCc::ClientProxy
PlayerClient *	mPc
playerc_client_t *	mClient
playerc_device_t *	mInfo
bool	mFresh

---

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

• playerc++.h