robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient Class Reference

This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map. More...

#include <robotiq_3f_gripper_ethercat_client.h>

Inheritance diagram for robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient:

Public Member Functions
GripperInput	readInputs () const
	Reads set of input-register values from the gripper. More...
GripperOutput	readOutputs () const
	Reads set of output-register values from the gripper. More...
	Robotiq3FGripperEtherCatClient (robotiq_ethercat::EtherCatManager &manager, int slave_no)
	Constructs a control interface to a 3F Robotiq gripper on the given ethercat network and the given slave_no. More...
void	writeOutputs (const GripperOutput &output)
	Write the given set of control flags to the memory of the gripper. More...
Public Member Functions inherited from robotiq_3f_gripper_control::Robotiq3FGripperClientBase
virtual void	init (ros::NodeHandle nh)
virtual	~Robotiq3FGripperClientBase ()

Private Attributes
robotiq_ethercat::EtherCatManager &	manager_
const int	slave_no_

Additional Inherited Members
Public Types inherited from robotiq_3f_gripper_control::Robotiq3FGripperClientBase
typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput	GripperInput
typedef robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput	GripperOutput
Protected Member Functions inherited from robotiq_3f_gripper_control::Robotiq3FGripperClientBase
	Robotiq3FGripperClientBase ()

Detailed Description

This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map.

Definition at line 45 of file robotiq_3f_gripper_ethercat_client.h.

Constructor & Destructor Documentation

robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient::Robotiq3FGripperEtherCatClient	(	robotiq_ethercat::EtherCatManager &	manager,
		int	slave_no
	)

Constructs a control interface to a 3F Robotiq gripper on the given ethercat network and the given slave_no.

Parameters

[in]	manager	The interface to an EtherCAT network that the gripper is connected to.
[in]	slave_no	The slave number of the gripper on the EtherCAT network (>= 1)

Definition at line 34 of file robotiq_3f_gripper_ethercat_client.cpp.

Member Function Documentation

Robotiq3FGripperEtherCatClient::GripperInput robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient::readInputs ( ) const

virtual

Reads set of input-register values from the gripper.

Returns

The gripper input registers as read from the controller IOMap

Implements robotiq_3f_gripper_control::Robotiq3FGripperClientBase.

Definition at line 81 of file robotiq_3f_gripper_ethercat_client.cpp.

Robotiq3FGripperEtherCatClient::GripperOutput robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient::readOutputs ( ) const

virtual

Reads set of output-register values from the gripper.

Returns

The gripper output registers as read from the controller IOMap

Implements robotiq_3f_gripper_control::Robotiq3FGripperClientBase.

Definition at line 132 of file robotiq_3f_gripper_ethercat_client.cpp.

void robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient::writeOutputs ( const GripperOutput &  output )

virtual

Write the given set of control flags to the memory of the gripper.

Parameters

[in]

output

The set of output-register values to write to the gripper

Implements robotiq_3f_gripper_control::Robotiq3FGripperClientBase.

Definition at line 43 of file robotiq_3f_gripper_ethercat_client.cpp.

Member Data Documentation

robotiq_ethercat::EtherCatManager& robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient::manager_

private

Definition at line 80 of file robotiq_3f_gripper_ethercat_client.h.

const int robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient::slave_no_

private

Definition at line 81 of file robotiq_3f_gripper_ethercat_client.h.

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

• robotiq_3f_gripper_ethercat_client.h
• robotiq_3f_gripper_ethercat_client.cpp