YouBotGripperParameter.hpp

Go to the documentation of this file.

#ifndef YOUBOT_YOUBOTGRIPPERPARAMETER_H
#define YOUBOT_YOUBOTGRIPPERPARAMETER_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ****************************************************************/
#include <vector>
#include <sstream>
#include "youbot_driver/generic/Units.hpp"
#include "youbot_driver/generic-joint/JointParameter.hpp"
#include "youbot_driver/generic-gripper/GripperParameter.hpp"
#include "youbot_driver/youbot/ProtocolDefinitions.hpp"
#include "youbot_driver/youbot/YouBotSlaveMsg.hpp"
#include "youbot_driver/youbot/YouBotSlaveMailboxMsg.hpp"
namespace youbot {

class YouBotGripperParameter : public GripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  protected:
    YouBotGripperParameter();


  public:
    virtual ~YouBotGripperParameter();

    virtual void toString(std::string& value) const = 0;


  protected:
    virtual ParameterType getType() const = 0;

    virtual std::string getName() const = 0;

    virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const = 0;

    virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message) = 0;

    std::string name;


  private:
    ParameterType parameterType;

};
class GripperFirmwareVersion : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    GripperFirmwareVersion();

    virtual ~GripperFirmwareVersion();

    void getParameter(int& controllerType, double& firmwareVersion) const;

    void setParameter(const int controllerType, const double firmwareVersion);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int controllerType;

    double firmwareVersion;

    std::string name;

    ParameterType parameterType;

};
class GripperBarName : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;


  public:
    GripperBarName();

    virtual ~GripperBarName();

    void getParameter(std::string& parameter) const;

    void setParameter(const std::string parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    std::string value;

    std::string name;

    ParameterType parameterType;

};
class CalibrateGripper : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    CalibrateGripper();

    virtual ~CalibrateGripper();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value) const;


  private:
    virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    ParameterType getType() const {return this->parameterType;};

    std::string getName() const {return this->name;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class BarSpacingOffset : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    BarSpacingOffset();

    virtual ~BarSpacingOffset();

    void getParameter(quantity<si::length>& parameter) const;

    void setParameter(const quantity<si::length>& parameter);

    void toString(std::string& value) const;


  private:
    virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    ParameterType getType() const {return this->parameterType;};

    std::string getName() const {return this->name;};

    quantity<si::length> value;

    std::string name;

    ParameterType parameterType;

};
class MaxEncoderValue : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    MaxEncoderValue();

    virtual ~MaxEncoderValue();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int parameter);

    void toString(std::string& value) const;


  private:
    virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    ParameterType getType() const {return this->parameterType;};

    std::string getName() const {return this->name;};

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class MaxTravelDistance : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    MaxTravelDistance();

    virtual ~MaxTravelDistance();

    void getParameter(quantity<si::length>& parameter) const;

    void setParameter(const quantity<si::length>& parameter);

    void toString(std::string& value) const;


  private:
    virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    ParameterType getType() const {return this->parameterType;};

    std::string getName() const {return this->name;};

    quantity<si::length> value;

    std::string name;

    ParameterType parameterType;

};
class ActualPosition : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ActualPosition();

    virtual ~ActualPosition();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class PositionSetpoint : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    PositionSetpoint();

    virtual ~PositionSetpoint();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class TargetPositionReached : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    TargetPositionReached();

    virtual ~TargetPositionReached();

    void getParameter(bool& parameter) const;

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class ActualVelocity : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ActualVelocity();

    virtual ~ActualVelocity();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class VelocitySetpoint : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    VelocitySetpoint();

    virtual ~VelocitySetpoint();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};


class ActualLoadValue : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ActualLoadValue();

    virtual ~ActualLoadValue();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};

class ChopperBlankTime : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ChopperBlankTime();

    virtual ~ChopperBlankTime();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};

class ChopperHysteresisDecrement : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ChopperHysteresisDecrement();

    virtual ~ChopperHysteresisDecrement();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class ChopperHysteresisEnd : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ChopperHysteresisEnd();

    virtual ~ChopperHysteresisEnd();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class ChopperHysteresisStart : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ChopperHysteresisStart();

    virtual ~ChopperHysteresisStart();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};

class ChopperMode : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ChopperMode();

    virtual ~ChopperMode();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};

class ChopperOffTime : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ChopperOffTime();

    virtual ~ChopperOffTime();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};

class DoubleStepEnable : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;


  public:
    DoubleStepEnable();

    virtual ~DoubleStepEnable();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class ErrorFlags : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ErrorFlags();

    virtual ~ErrorFlags();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};


class Freewheeling : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    Freewheeling();

    virtual ~Freewheeling();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class MaximumAcceleration : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    MaximumAcceleration();

    virtual ~MaximumAcceleration();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};

class MaximumCurrent : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    MaximumCurrent();

    virtual ~MaximumCurrent();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class MaximumPositioningSpeed : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    MaximumPositioningSpeed();

    virtual ~MaximumPositioningSpeed();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class MicrostepResolution : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;

  public:
    MicrostepResolution();

    virtual ~MicrostepResolution();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class PowerDownDelay : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    PowerDownDelay();

    virtual ~PowerDownDelay();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class PulseDivisor : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;


  public:
    PulseDivisor();

    virtual ~PulseDivisor();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class RampDivisor : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;

  public:
    RampDivisor();

    virtual ~RampDivisor();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class RampMode : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;

  public:
    RampMode();

    virtual ~RampMode();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};


class ShortDetectionTimer : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ShortDetectionTimer();

    virtual ~ShortDetectionTimer();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};

class ShortProtectionDisable : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ShortProtectionDisable();

    virtual ~ShortProtectionDisable();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};

class SlopeControlHighSide : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SlopeControlHighSide();

    virtual ~SlopeControlHighSide();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};

class SlopeControlLowSide : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SlopeControlLowSide();

    virtual ~SlopeControlLowSide();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};


class SmartEnergyActualCurrent : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SmartEnergyActualCurrent();

    virtual ~SmartEnergyActualCurrent();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class SmartEnergyCurrentDownStep : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SmartEnergyCurrentDownStep();

    virtual ~SmartEnergyCurrentDownStep();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class SmartEnergyCurrentMinimum : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SmartEnergyCurrentMinimum();

    virtual ~SmartEnergyCurrentMinimum();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};

class SmartEnergyCurrentUpStep : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SmartEnergyCurrentUpStep();

    virtual ~SmartEnergyCurrentUpStep();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class SmartEnergyHysteresis : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SmartEnergyHysteresis();

    virtual ~SmartEnergyHysteresis();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};

class SmartEnergyHysteresisStart : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SmartEnergyHysteresisStart();

    virtual ~SmartEnergyHysteresisStart();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};

class SmartEnergySlowRunCurrent : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SmartEnergySlowRunCurrent();

    virtual ~SmartEnergySlowRunCurrent();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};

class SmartEnergyThresholdSpeed : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    SmartEnergyThresholdSpeed();

    virtual ~SmartEnergyThresholdSpeed();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class StallGuard2FilterEnable : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    StallGuard2FilterEnable();

    virtual ~StallGuard2FilterEnable();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class StallGuard2Threshold : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    StallGuard2Threshold();

    virtual ~StallGuard2Threshold();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};

class StandbyCurrent : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;

  public:
    StandbyCurrent();

    virtual ~StandbyCurrent();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};

class StepInterpolationEnable : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;


  public:
    StepInterpolationEnable();

    virtual ~StepInterpolationEnable();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};
class StopOnStall : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    StopOnStall();

    virtual ~StopOnStall();

    void getParameter(bool& parameter) const;

    void setParameter(const bool parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    bool value;

    std::string name;

    ParameterType parameterType;

};

class Vsense : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    Vsense();

    virtual ~Vsense();

    void getParameter(unsigned int& parameter) const;

    void setParameter(const unsigned int& parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    unsigned int upperLimit;

    unsigned int lowerLimit;

    unsigned int value;

    std::string name;

    ParameterType parameterType;

};
class ActualAcceleration : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    ActualAcceleration();

    virtual ~ActualAcceleration();

    void getParameter(int& parameter) const;

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};
class MinimumSpeed : public YouBotGripperParameter {
friend class YouBotGripper;
friend class YouBotGripperBar;
  public:
    MinimumSpeed();

    virtual ~MinimumSpeed();

    void getParameter(int& parameter) const;

    void setParameter(const int parameter);

    void toString(std::string& value) const;


  private:
    void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message) const;

    void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message);

    std::string getName() const {return this->name;};

    ParameterType getType() const {return this->parameterType;};

    int upperLimit;

    int lowerLimit;

    int value;

    std::string name;

    ParameterType parameterType;

};

} // namespace youbot
#endif