pr2_wrappers::GripperController Class Reference

#include <gripper_controller.h>

List of all members.

Public Member Functions
bool	commandGripperValue (std::string arm_name, double value)
	Sends a command to the gripper action, does not wait for result.
double	getGripperClosedGap (std::string arm_name) const
	Gets the gap value for a closed gripper.
double	getGripperOpenGap (std::string arm_name) const
	Gets the gap value for an open gripper.
bool	getGripperValue (std::string arm_name, double &value)
	Returns the current value of the gripper joint.
	GripperController ()
	~GripperController ()
Private Member Functions
double	jointToGap (double jointValue)
	Given a value of a gripper joint, converts that to a value of the gap between the fingers.
std::string	virtualJointName (std::string arm_name)
	Gets the virtual gripper joint name for the given arm.
Private Attributes
object_manipulator::MultiArmActionWrapper < pr2_controllers_msgs::Pr2GripperCommandAction >	gripper_action_client_
	The gripper command action.
double	l_gripper_closed_gap_value_
	Gap value for gripper fully closed.
double	l_gripper_max_effort_
	Max effort used when achieving a position (e.g. pre-grasp or release) without epxecting an object.
double	l_gripper_open_gap_value_
	Gap value for gripper fully open.
std::string	l_gripper_type_
	The type of gripper, for now "pr2" or "lcg".
ros::NodeHandle	priv_nh_
	The private namespace node handle.
double	r_gripper_closed_gap_value_
double	r_gripper_max_effort_
double	r_gripper_open_gap_value_
std::string	r_gripper_type_
ros::NodeHandle	root_nh_
	The root namespace node handle.

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Detailed Description

Definition at line 47 of file gripper_controller.h.

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Constructor & Destructor Documentation

pr2_wrappers::GripperController::GripperController

(

)

Definition at line 38 of file gripper_controller.cpp.

pr2_wrappers::GripperController::~GripperController

(

)

Definition at line 54 of file gripper_controller.cpp.

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Member Function Documentation

bool pr2_wrappers::GripperController::commandGripperValue	(	std::string	arm_name,
		double	value
	)

Sends a command to the gripper action, does not wait for result.

Definition at line 96 of file gripper_controller.cpp.

double pr2_wrappers::GripperController::getGripperClosedGap

(

std::string

arm_name

)

const [inline]

Gets the gap value for a closed gripper.

Definition at line 105 of file gripper_controller.h.

double pr2_wrappers::GripperController::getGripperOpenGap

(

std::string

arm_name

)

const [inline]

Gets the gap value for an open gripper.

Definition at line 98 of file gripper_controller.h.

bool pr2_wrappers::GripperController::getGripperValue	(	std::string	arm_name,
		double &	value
	)

Returns the current value of the gripper joint.

Definition at line 64 of file gripper_controller.cpp.

double pr2_wrappers::GripperController::jointToGap

(

double

jointValue

)

[private]

Given a value of a gripper joint, converts that to a value of the gap between the fingers.

std::string pr2_wrappers::GripperController::virtualJointName

(

std::string

arm_name

)

[private]

Gets the virtual gripper joint name for the given arm.

Definition at line 58 of file gripper_controller.cpp.

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Member Data Documentation

object_manipulator::MultiArmActionWrapper<pr2_controllers_msgs::Pr2GripperCommandAction> pr2_wrappers::GripperController::gripper_action_client_ [private]

The gripper command action.

Definition at line 58 of file gripper_controller.h.

double pr2_wrappers::GripperController::l_gripper_closed_gap_value_ [private]

Gap value for gripper fully closed.

Definition at line 71 of file gripper_controller.h.

double pr2_wrappers::GripperController::l_gripper_max_effort_ [private]

Max effort used when achieving a position (e.g. pre-grasp or release) without epxecting an object.

Definition at line 75 of file gripper_controller.h.

double pr2_wrappers::GripperController::l_gripper_open_gap_value_ [private]

Gap value for gripper fully open.

Definition at line 67 of file gripper_controller.h.

std::string pr2_wrappers::GripperController::l_gripper_type_ [private]

The type of gripper, for now "pr2" or "lcg".

Definition at line 79 of file gripper_controller.h.

ros::NodeHandle pr2_wrappers::GripperController::priv_nh_ [private]

The private namespace node handle.

Definition at line 55 of file gripper_controller.h.

double pr2_wrappers::GripperController::r_gripper_closed_gap_value_ [private]

Definition at line 72 of file gripper_controller.h.

double pr2_wrappers::GripperController::r_gripper_max_effort_ [private]

Definition at line 76 of file gripper_controller.h.

double pr2_wrappers::GripperController::r_gripper_open_gap_value_ [private]

Definition at line 68 of file gripper_controller.h.

std::string pr2_wrappers::GripperController::r_gripper_type_ [private]

Definition at line 80 of file gripper_controller.h.

ros::NodeHandle pr2_wrappers::GripperController::root_nh_ [private]

The root namespace node handle.

Definition at line 52 of file gripper_controller.h.

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

• gripper_controller.h
• gripper_controller.cpp