player_gripper_geom Struct Reference

Request/reply: get geometry. More...

#include <player_interfaces.h>

Collaboration diagram for player_gripper_geom:

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). More...
player_bbox3d_t	outer_size
	Outside dimensions of gripper (m, m, m). More...
player_bbox3d_t	inner_size
	Inside dimensions of gripper, i.e. More...
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

inner_size

player_bbox3d_t player_gripper_geom::inner_size

Inside dimensions of gripper, i.e.

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

Referenced by P2OS::ProcessMessage().

outer_size

player_bbox3d_t player_gripper_geom::outer_size

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

Referenced by P2OS::ProcessMessage().

pose

player_pose3d_t player_gripper_geom::pose

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

Referenced by P2OS::ProcessMessage().

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

• player_interfaces.h