riq_hand_ethercat_hardware: riq_hand_ethercat_hardware: riq_hand

00001 #include "riq_hand_ethercat_hardware/riq_hand_command.h"
00002 #include <string.h>
00003 
00004 namespace riq_hand_ethercat_hardware
00005 {
00006 
00007 const char* RIQActionRequest::modeString(unsigned mode)
00008 {
00009   switch(mode)
00010   {
00011   case CYLINDRICAL_MODE:
00012     return "Cylindrical";
00013   case PINCH_MODE:
00014     return "Pinch";
00015   case SPHERIOD_MODE:
00016     return "Spheriod";
00017   case SCISSORS_MODE:
00018     return "Scissors";
00019   default:
00020     return "Unknown";
00021   };
00022 }
00023   
00024 const char* RIQActionRequest::gripString(unsigned grip)
00025 {
00026   switch(grip)
00027   {
00028   case GRIP_STOP: 
00029   case GRIP_STOP_X:
00030     return "Stop";
00031   case GRIP_OPEN:
00032     return "Open";
00033   case GRIP_CLOSE: 
00034     return "Close";
00035   default:
00036     return "Unknown";
00037   };
00038 }
00039 
00040 
00041 
00042 void RIQHandCommandEcat::zero()
00043 {
00044   memset(this, 0, sizeof(*this));
00045 }
00046 
00047 }; //namespace riq_hand_ethercat_hardware
riq_hand_command.cpp
