Class Gripper

Inheritance Relationships

Base Type

Class Documentation

class Gripper : public hebi::arm::EndEffectorBase

Public Types

enum class State

Values:

enumerator Open
enumerator Close

Public Functions

~Gripper() override = default
inline virtual bool update(Eigen::VectorXd &aux_state) override
inline virtual bool send() override
inline double getState()
inline void setState(double state)
inline void setState(State state)
inline void open()
inline void close()
inline void toggle()
inline bool loadGains(const std::string &gains_file)

Public Static Functions

static inline double StateToDouble(State state)
static inline std::unique_ptr<Gripper> create(const std::string &family, const std::string &name, double close_effort, double open_effort)
static inline std::unique_ptr<Gripper> create(std::shared_ptr<hebi::Group> &group, double close_effort, double open_effort)
static inline std::unique_ptr<Gripper> create(hebi::Lookup &lookup, const std::string &family, const std::string &name, double close_effort, double open_effort)

Protected Functions

inline void setCommand(double value)