Public Member Functions | Private Attributes | List of all members
robotiq_3f_gripper_control::Robotiq3FGripperAPI Class Reference

#include <robotiq_3f_gripper_api.h>

Public Member Functions

void getCommandPos (double *posA, double *posB, double *posC, double *posS) const
 
void getCurrent (double *curA, double *curB, double *curC, double *curS) const
 
void getFaultStatus (FaultStatus *gFLT) const
 
void getGripperStatus (InitializationMode *gACT, GraspingMode *gMOD, ActionMode *gGTO, GripperStatus *gIMC, MotionStatus *gSTA) const
 
void getObjectStatus (ObjectStatus *fA, ObjectStatus *fB, ObjectStatus *fC, ObjectStatus *fS) const
 
void getPosition (double *posA, double *posB, double *posC, double *posS) const
 
void getPositionCmd (double *posA, double *posB, double *posC, double *posS) const
 
void getRaw (Robotiq3FGripperClientBase::GripperInput *raw) const
 
bool isEmergReleaseComplete ()
 
bool isHalted ()
 
bool isInitialized ()
 
bool isModeSet (GraspingMode mode)
 
bool isMoving ()
 
bool isReady ()
 
void read ()
 
 Robotiq3FGripperAPI (boost::shared_ptr< Robotiq3FGripperClientBase > base)
 
void setActionMode (ActionMode mode)
 
void setEmergencyRelease (EmergencyRelease release)
 
void setForce (const double &fA, const double &fB=0, const double &fC=0, const double &fS=0)
 
void setGraspingMode (GraspingMode mode)
 
void setInidividualControlMode (IndividualControl fingers, IndividualControl scissor)
 
void setInitialization (InitializationMode mode)
 
void setPosition (const double &posA, const double &posB=0, const double &posC=0, const double &posS=0)
 
void setRaw (const Robotiq3FGripperClientBase::GripperOutput &raw)
 
void setVelocity (const double &velA, const double &velB=0, const double &velC=0, const double &velS=0)
 
void write ()
 

Private Attributes

boost::shared_ptr< Robotiq3FGripperClientBase > base_
 
Robotiq3FGripperClientBase::GripperOutput command_
 
double cur_to_ticks_
 
double force_offset_
 
double force_to_ticks_
 
double pos_offset_
 
double pos_to_ticks_
 conversions More...
 
double sci_offset_
 
double sci_to_ticks_
 
Robotiq3FGripperClientBase::GripperInput status_
 
double vel_offset_
 
double vel_to_ticks_
 

Detailed Description

Definition at line 51 of file robotiq_3f_gripper_api.h.

Constructor & Destructor Documentation

Robotiq3FGripperAPI::Robotiq3FGripperAPI ( boost::shared_ptr< Robotiq3FGripperClientBase >  base)

Get current status

Definition at line 30 of file robotiq_3f_gripper_api.cpp.

Member Function Documentation

void Robotiq3FGripperAPI::getCommandPos ( double *  posA,
double *  posB,
double *  posC,
double *  posS 
) const

Definition at line 160 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::getCurrent ( double *  curA,
double *  curB,
double *  curC,
double *  curS 
) const

Definition at line 125 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::getFaultStatus ( FaultStatus *  gFLT) const

Definition at line 142 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::getGripperStatus ( InitializationMode *  gACT,
GraspingMode *  gMOD,
ActionMode *  gGTO,
GripperStatus *  gIMC,
MotionStatus *  gSTA 
) const

Definition at line 133 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::getObjectStatus ( ObjectStatus *  fA,
ObjectStatus *  fB,
ObjectStatus *  fC,
ObjectStatus *  fS 
) const

Definition at line 147 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::getPosition ( double *  posA,
double *  posB,
double *  posC,
double *  posS 
) const

Definition at line 109 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::getPositionCmd ( double *  posA,
double *  posB,
double *  posC,
double *  posS 
) const

Definition at line 117 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::getRaw ( Robotiq3FGripperClientBase::GripperInput *  raw) const

Definition at line 155 of file robotiq_3f_gripper_api.cpp.

bool Robotiq3FGripperAPI::isEmergReleaseComplete ( )

Definition at line 193 of file robotiq_3f_gripper_api.cpp.

bool Robotiq3FGripperAPI::isHalted ( )

Definition at line 183 of file robotiq_3f_gripper_api.cpp.

bool Robotiq3FGripperAPI::isInitialized ( )

Definition at line 168 of file robotiq_3f_gripper_api.cpp.

bool Robotiq3FGripperAPI::isModeSet ( GraspingMode  mode)

Definition at line 178 of file robotiq_3f_gripper_api.cpp.

bool Robotiq3FGripperAPI::isMoving ( )

Definition at line 188 of file robotiq_3f_gripper_api.cpp.

bool Robotiq3FGripperAPI::isReady ( )

Definition at line 173 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::read ( )

Definition at line 198 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::setActionMode ( ActionMode  mode)

Definition at line 64 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::setEmergencyRelease ( EmergencyRelease  release)

Definition at line 69 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::setForce ( const double &  fA,
const double &  fB = 0,
const double &  fC = 0,
const double &  fS = 0 
)

Definition at line 96 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::setGraspingMode ( GraspingMode  mode)

Definition at line 59 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::setInidividualControlMode ( IndividualControl  fingers,
IndividualControl  scissor 
)

Definition at line 74 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::setInitialization ( InitializationMode  mode)

Definition at line 54 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::setPosition ( const double &  posA,
const double &  posB = 0,
const double &  posC = 0,
const double &  posS = 0 
)

Definition at line 80 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::setRaw ( const Robotiq3FGripperClientBase::GripperOutput &  raw)

Definition at line 104 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::setVelocity ( const double &  velA,
const double &  velB = 0,
const double &  velC = 0,
const double &  velS = 0 
)

Definition at line 88 of file robotiq_3f_gripper_api.cpp.

void Robotiq3FGripperAPI::write ( )

Definition at line 203 of file robotiq_3f_gripper_api.cpp.

Member Data Documentation

boost::shared_ptr<Robotiq3FGripperClientBase> robotiq_3f_gripper_control::Robotiq3FGripperAPI::base_
private

Definition at line 87 of file robotiq_3f_gripper_api.h.

Robotiq3FGripperClientBase::GripperOutput robotiq_3f_gripper_control::Robotiq3FGripperAPI::command_
private

Definition at line 90 of file robotiq_3f_gripper_api.h.

double robotiq_3f_gripper_control::Robotiq3FGripperAPI::cur_to_ticks_
private

Definition at line 101 of file robotiq_3f_gripper_api.h.

double robotiq_3f_gripper_control::Robotiq3FGripperAPI::force_offset_
private

Definition at line 100 of file robotiq_3f_gripper_api.h.

double robotiq_3f_gripper_control::Robotiq3FGripperAPI::force_to_ticks_
private

Definition at line 99 of file robotiq_3f_gripper_api.h.

double robotiq_3f_gripper_control::Robotiq3FGripperAPI::pos_offset_
private

Definition at line 94 of file robotiq_3f_gripper_api.h.

double robotiq_3f_gripper_control::Robotiq3FGripperAPI::pos_to_ticks_
private

conversions

Definition at line 93 of file robotiq_3f_gripper_api.h.

double robotiq_3f_gripper_control::Robotiq3FGripperAPI::sci_offset_
private

Definition at line 96 of file robotiq_3f_gripper_api.h.

double robotiq_3f_gripper_control::Robotiq3FGripperAPI::sci_to_ticks_
private

Definition at line 95 of file robotiq_3f_gripper_api.h.

Robotiq3FGripperClientBase::GripperInput robotiq_3f_gripper_control::Robotiq3FGripperAPI::status_
private

Definition at line 89 of file robotiq_3f_gripper_api.h.

double robotiq_3f_gripper_control::Robotiq3FGripperAPI::vel_offset_
private

Definition at line 98 of file robotiq_3f_gripper_api.h.

double robotiq_3f_gripper_control::Robotiq3FGripperAPI::vel_to_ticks_
private

Definition at line 97 of file robotiq_3f_gripper_api.h.

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

robotiq_3f_gripper_control
Author(s): Nicolas Lauzier (Robotiq inc.), Allison Thackston
autogenerated on Tue Jun 1 2021 02:29:58