Gripper.h
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00001 /*
00002  * Copyright (c) 2010, Thomas Ruehr <ruehr@cs.tum.edu>
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef __GRIPPER_H__
00031 #define __GRIPPER_H__
00032 
00033 #include <ros/ros.h>
00034 
00035 #include <actionlib/client/simple_action_client.h>
00036 #include <actionlib/client/terminal_state.h>
00037 #include <pr2_controllers_msgs/Pr2GripperCommandAction.h>
00038 #include <pr2_gripper_sensor_msgs/PR2GripperGrabAction.h>
00039 #include <pr2_gripper_sensor_msgs/PR2GripperFindContactAction.h>
00040 #include <std_srvs/Empty.h>
00041 
00042 // Our Action interface type, provided as a typedef for convenience
00043 typedef actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction> GripperClient;
00044 typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperGrabAction> GrabAC;
00045 typedef actionlib::SimpleActionClient<pr2_gripper_sensor_msgs::PR2GripperFindContactAction> FindContactAC;
00046 
00047 class Gripper{
00048 private:
00049   GripperClient* gripper_client_;
00050   GrabAC* grab_;
00051   FindContactAC* contact_;
00052 
00053   std_srvs::Empty serv;
00054   //Action client initialization
00055   Gripper(int side = 0);
00056 
00057   ~Gripper();
00058 
00059   static Gripper *instance[];
00060 
00061   int side_;
00062 
00063 public:
00064 
00065   static Gripper *getInstance(int side=0);
00066 
00067   //Open the gripper
00068   void openThreaded(double amount = 0.09);
00069   void open(double amount = 0.09);
00070 
00071   //Close the gripper
00072   void closeThreaded(double amount = 0.00);
00073   void close(double amount = 0.00);
00074 
00075     //Close the gripper
00076   void closeHard(double amount = 0.00);
00077 
00078   void updatePressureZero();
00079 
00080   void closeCompliant(double gain = 0.0001);
00081 
00082   double getAmountOpen();
00083 
00084 };
00085 
00086 #endif
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ias_drawer_executive
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 09:44:57