hebi::arm::Gripper Class Reference

#include <end_effector.hpp>

Public Types
enum	State { State::Open, State::Close }

Public Member Functions
	~Gripper () override=default
bool	update (Eigen::VectorXd &aux_state) override
bool	send () override
double	getState ()
void	setState (double state)
void	setState (State state)
void	open ()
void	close ()
void	toggle ()
bool	loadGains (const std::string &gains_file)
Public Member Functions inherited from hebi::arm::EndEffectorBase
	EndEffectorBase (size_t aux_size)
virtual	~EndEffectorBase ()=default
hebi::GroupCommand &	pendingCommand ()
const hebi::GroupCommand &	pendingCommand () const

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

Protected Member Functions
void	setCommand (double value)

Additional Inherited Members
Protected Attributes inherited from hebi::arm::EndEffectorBase
hebi::GroupCommand	command_
hebi::GroupFeedback	feedback_

Member Enumeration Documentation

State

enum hebi::arm::Gripper::State

strong

Enumerator
Open
Close

Constructor & Destructor Documentation

~Gripper()

hebi::arm::Gripper::~Gripper ( )

overridedefault

Member Function Documentation

StateToDouble()

static double hebi::arm::Gripper::StateToDouble ( State  state )

inlinestatic

create() [1/3]

static std::unique_ptr<Gripper> hebi::arm::Gripper::create ( const std::string &  family, const std::string &  name, double  close_effort, double  open_effort  )

inlinestatic

create() [2/3]

static std::unique_ptr<Gripper> hebi::arm::Gripper::create ( std::shared_ptr< hebi::Group > &  group, double  close_effort, double  open_effort  )

inlinestatic

create() [3/3]

static std::unique_ptr<Gripper> hebi::arm::Gripper::create ( hebi::Lookup &  lookup, const std::string &  family, const std::string &  name, double  close_effort, double  open_effort  )

inlinestatic

update()

bool hebi::arm::Gripper::update ( Eigen::VectorXd &  aux_state )

inlineoverridevirtual

Implements hebi::arm::EndEffectorBase.

send()

bool hebi::arm::Gripper::send ( )

inlineoverridevirtual

Implements hebi::arm::EndEffectorBase.

getState()

double hebi::arm::Gripper::getState ( )

inline

setState() [1/2]

void hebi::arm::Gripper::setState ( double  state )

inline

setState() [2/2]

void hebi::arm::Gripper::setState ( State  state )

inline

open()

void hebi::arm::Gripper::open ( )

inline

close()

void hebi::arm::Gripper::close ( )

inline

toggle()

void hebi::arm::Gripper::toggle ( )

inline

loadGains()

bool hebi::arm::Gripper::loadGains ( const std::string &  gains_file )

inline

setCommand()

void hebi::arm::Gripper::setCommand ( double  value )

inlineprotected

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

• end_effector.hpp