youbot::YouBotGripper Class Reference

The youBot gripper with one degree of freedom. More...

#include <YouBotGripper.hpp>

Inheritance diagram for youbot::YouBotGripper:

Public Member Functions
void	close ()
virtual void	getConfigurationParameter (GripperFirmwareVersion &parameter) const
virtual void	getConfigurationParameter (YouBotSlaveMailboxMsg &parameter) const
virtual void	getData (GripperSensedBarSpacing &barSpacing) const
YouBotGripperBar &	getGripperBar1 ()
YouBotGripperBar &	getGripperBar2 ()
void	open ()
virtual void	setConfigurationParameter (const CalibrateGripper &parameter)
virtual void	setData (const GripperBarSpacingSetPoint &barSpacing)
	YouBotGripper (const unsigned int jointNo, const std::string &configFilePath="../config/")
virtual	~YouBotGripper ()

Protected Member Functions
virtual void	getConfigurationParameter (GripperParameter &parameter) const
virtual void	getData (const GripperData &data) const
virtual void	getData (OneDOFGripperData &data) const
virtual void	setConfigurationParameter (const GripperParameter &parameter)
virtual void	setData (const GripperData &data)
virtual void	setData (const OneDOFGripperData &data)

Private Member Functions
YouBotGripper &	operator= (const YouBotGripper &source)
void	parseMailboxStatusFlags (const YouBotSlaveMailboxMsg &mailboxMsg) const
bool	retrieveValueFromMotorContoller (YouBotSlaveMailboxMsg &message) const
bool	setValueToMotorContoller (const YouBotSlaveMailboxMsg &mailboxMsg) const
	YouBotGripper (const YouBotGripper &source)

Private Attributes
boost::scoped_ptr< YouBotGripperBar >	bar1
boost::scoped_ptr< YouBotGripperBar >	bar2
EthercatMasterInterface *	ethercatMaster
unsigned int	jointNumber
unsigned int	mailboxMsgRetries
unsigned int	timeTillNextMailboxUpdate

Detailed Description

The youBot gripper with one degree of freedom.

Definition at line 76 of file YouBotGripper.hpp.

Constructor & Destructor Documentation

youbot::YouBotGripper::YouBotGripper	(	const unsigned int	jointNo,
		const std::string &	configFilePath = "../config/"
	)

Definition at line 55 of file YouBotGripper.cpp.

youbot::YouBotGripper::~YouBotGripper ( )

virtual

Definition at line 68 of file YouBotGripper.cpp.

youbot::YouBotGripper::YouBotGripper ( const YouBotGripper &  source )

private

Member Function Documentation

void youbot::YouBotGripper::close

(

)

Definition at line 331 of file YouBotGripper.cpp.

void youbot::YouBotGripper::getConfigurationParameter ( GripperParameter &  parameter ) const

protectedvirtual

Implements youbot::OneDOFGripper.

Definition at line 73 of file YouBotGripper.cpp.

void youbot::YouBotGripper::getConfigurationParameter ( GripperFirmwareVersion &  parameter ) const

virtual

Definition at line 85 of file YouBotGripper.cpp.

void youbot::YouBotGripper::getConfigurationParameter ( YouBotSlaveMailboxMsg &  parameter ) const

virtual

Definition at line 248 of file YouBotGripper.cpp.

void youbot::YouBotGripper::getData ( const GripperData &  data ) const

protectedvirtual

Implements youbot::Gripper.

Definition at line 257 of file YouBotGripper.cpp.

void youbot::YouBotGripper::getData ( OneDOFGripperData &  data ) const

protectedvirtual

Implements youbot::OneDOFGripper.

Definition at line 269 of file YouBotGripper.cpp.

void youbot::YouBotGripper::getData ( GripperSensedBarSpacing &  barSpacing ) const

virtual

Definition at line 296 of file YouBotGripper.cpp.

YouBotGripperBar & youbot::YouBotGripper::getGripperBar1

(

)

Definition at line 343 of file YouBotGripper.cpp.

YouBotGripperBar & youbot::YouBotGripper::getGripperBar2

(

)

Definition at line 352 of file YouBotGripper.cpp.

void youbot::YouBotGripper::open

(

)

Definition at line 308 of file YouBotGripper.cpp.

YouBotGripper& youbot::YouBotGripper::operator= ( const YouBotGripper &  source )

private

void youbot::YouBotGripper::parseMailboxStatusFlags ( const YouBotSlaveMailboxMsg &  mailboxMsg ) const

private

Definition at line 361 of file YouBotGripper.cpp.

bool youbot::YouBotGripper::retrieveValueFromMotorContoller ( YouBotSlaveMailboxMsg &  message ) const

private

Definition at line 442 of file YouBotGripper.cpp.

void youbot::YouBotGripper::setConfigurationParameter ( const GripperParameter &  parameter )

protectedvirtual

Implements youbot::OneDOFGripper.

Definition at line 79 of file YouBotGripper.cpp.

void youbot::YouBotGripper::setConfigurationParameter ( const CalibrateGripper &  parameter )

virtual

Definition at line 134 of file YouBotGripper.cpp.

void youbot::YouBotGripper::setData ( const GripperData &  data )

protectedvirtual

Implements youbot::Gripper.

Definition at line 263 of file YouBotGripper.cpp.

void youbot::YouBotGripper::setData ( const OneDOFGripperData &  data )

protectedvirtual

Implements youbot::OneDOFGripper.

Definition at line 275 of file YouBotGripper.cpp.

void youbot::YouBotGripper::setData ( const GripperBarSpacingSetPoint &  barSpacing )

virtual

Definition at line 281 of file YouBotGripper.cpp.

bool youbot::YouBotGripper::setValueToMotorContoller ( const YouBotSlaveMailboxMsg &  mailboxMsg ) const

private

Definition at line 398 of file YouBotGripper.cpp.

Member Data Documentation

boost::scoped_ptr<YouBotGripperBar> youbot::YouBotGripper::bar1

private

Definition at line 140 of file YouBotGripper.hpp.

boost::scoped_ptr<YouBotGripperBar> youbot::YouBotGripper::bar2

private

Definition at line 142 of file YouBotGripper.hpp.

EthercatMasterInterface* youbot::YouBotGripper::ethercatMaster

private

Definition at line 132 of file YouBotGripper.hpp.

unsigned int youbot::YouBotGripper::jointNumber

private

Definition at line 138 of file YouBotGripper.hpp.

unsigned int youbot::YouBotGripper::mailboxMsgRetries

private

Definition at line 136 of file YouBotGripper.hpp.

unsigned int youbot::YouBotGripper::timeTillNextMailboxUpdate

private

Definition at line 134 of file YouBotGripper.hpp.

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

• YouBotGripper.hpp
• YouBotGripper.cpp