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/Logger.hpp>
#include <youbot_driver/generic/Units.hpp>
#include <youbot_driver/generic/Time.hpp>
#include <youbot_driver/generic/Exceptions.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