Class SuctionGripperPrivate

Class Documentation

class SuctionGripperPrivate

Public Functions

inline void OnContact(int idx0, int idx1, const gz::msgs::Contacts &_msg)

Callback for when contact is made.

inline void OnCmd(const gz::msgs::Boolean &_suctionOn)

Command callback.

Public Members

Entity childItem = {kNullEntity}

The item being moved.

std::string linkName

The gripper link name.

Entity joint = {kNullEntity}

Used to store the joint when we attach to an object.

Entity gripperEntity = {kNullEntity}

The gripper link entity.

transport::Node node

The transport node.

bool suctionOn = {false}

Used for determining when the suction is on.

bool pendingJointCreation = {false}

Set to true when we detect the suction gripper is in contact.

bool jointCreated = {false}

True when we are holding an object.

std::mutex mtx

mutex for accessing member variables

std::array<std::array<Entity, 3>, 3> contacts

Two-dimensional array of contact points.

transport::Node::Publisher contactPublisherCenter

Publisher for contact points.

transport::Node::Publisher contactPublisherLeft
transport::Node::Publisher contactPublisherRight
transport::Node::Publisher contactPublisherTop
transport::Node::Publisher contactPublisherBottom