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include
robotiq_3f_gripper_control
robotiq_3f_gripper_ethercat_client.h
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// Copyright (c) 2016, Toyota Research Institute. All rights reserved.
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// 1. Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#ifndef ROBOTIQ_3F_GRIPPER_ETHERCAT_CLIENT_H
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#define ROBOTIQ_3F_GRIPPER_ETHERCAT_CLIENT_H
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#include <
robotiq_3f_gripper_control/robotiq_3f_gripper_client_base.h
>
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// Forward declaration of EtherCatManager
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namespace
robotiq_ethercat
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{
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class
EtherCatManager;
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}
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namespace
robotiq_3f_gripper_control
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{
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class
Robotiq3FGripperEtherCatClient
:
public
Robotiq3FGripperClientBase
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{
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public
:
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Robotiq3FGripperEtherCatClient
(
robotiq_ethercat::EtherCatManager
& manager,
int
slave_no);
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void
writeOutputs(
const
GripperOutput
& output);
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GripperInput
readInputs()
const
;
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GripperOutput
readOutputs()
const
;
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private
:
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robotiq_ethercat::EtherCatManager
&
manager_
;
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const
int
slave_no_
;
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};
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}
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#endif
robotiq_3f_gripper_control::Robotiq3FGripperClientBase::GripperOutput
robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotOutput GripperOutput
Definition:
robotiq_3f_gripper_client_base.h:38
robotiq_ethercat::EtherCatManager
robotiq_ethercat
robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient::manager_
robotiq_ethercat::EtherCatManager & manager_
Definition:
robotiq_3f_gripper_ethercat_client.h:80
robotiq_3f_gripper_control
Definition:
robotiq_3f_gripper_api.h:47
robotiq_3f_gripper_client_base.h
robotiq_3f_gripper_control::Robotiq3FGripperClientBase::GripperInput
robotiq_3f_gripper_articulated_msgs::Robotiq3FGripperRobotInput GripperInput
Definition:
robotiq_3f_gripper_client_base.h:39
robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient
This class provides a client for the EtherCAT manager object that can translate robot input/output me...
Definition:
robotiq_3f_gripper_ethercat_client.h:45
robotiq_3f_gripper_control::Robotiq3FGripperEtherCatClient::slave_no_
const int slave_no_
Definition:
robotiq_3f_gripper_ethercat_client.h:81
robotiq_3f_gripper_control::Robotiq3FGripperClientBase
Definition:
robotiq_3f_gripper_client_base.h:35
robotiq_3f_gripper_control
Author(s): Nicolas Lauzier (Robotiq inc.), Allison Thackston
autogenerated on Tue Jun 1 2021 02:29:58