playerc_gripper_t Struct Reference

Gripper device data. More...

#include <playerc.h>

Collaboration diagram for playerc_gripper_t:

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().

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

• playerc.h