mc_rbdyn::RobotModule::Gripper Struct Reference

#include <mc_rbdyn/RobotModule.h>

Classes
struct	Safety

Public Member Functions
	Gripper (const std::string &name, const std::vector< std::string > &joints, bool reverse_limits)
	Gripper (const std::string &name, const std::vector< std::string > &joints, bool reverse_limits, const Safety &safety)
	Gripper (const std::string &name, const std::vector< std::string > &joints, bool reverse_limits, const Safety &safety, const std::vector< Mimic > &mimics)
const Safety *	safety () const
const std::vector< Mimic > *	mimics () const

Public Attributes
std::string	name
std::vector< std::string >	joints
bool	reverse_limits

Detailed Description

Holds necessary information to create a gripper

Constructor & Destructor Documentation

Gripper() [1/3]

mc_rbdyn::RobotModule::Gripper::Gripper	(	const std::string &	name,
		const std::vector< std::string > &	joints,
		bool	reverse_limits
	)

Constructor with no mimics and no safety information

Gripper() [2/3]

mc_rbdyn::RobotModule::Gripper::Gripper	(	const std::string &	name,
		const std::vector< std::string > &	joints,
		bool	reverse_limits,
		const Safety &	safety
	)

Constructor with safety parameters but no mimics information

Gripper() [3/3]

mc_rbdyn::RobotModule::Gripper::Gripper	(	const std::string &	name,
		const std::vector< std::string > &	joints,
		bool	reverse_limits,
		const Safety &	safety,
		const std::vector< Mimic > &	mimics
	)

Constructor with mimics and safety information

Member Function Documentation

mimics()

const std::vector<Mimic>* mc_rbdyn::RobotModule::Gripper::mimics ( ) const

inline

Returns the mimics parameters if provided, otherwise a nullptr

safety()

const Safety* mc_rbdyn::RobotModule::Gripper::safety ( ) const

inline

Returns the safety parameters if provided, otherwise a nullptr

Member Data Documentation

joints

std::vector<std::string> mc_rbdyn::RobotModule::Gripper::joints

Active joints in the gripper

name

std::string mc_rbdyn::RobotModule::Gripper::name

Gripper's name

reverse_limits

bool mc_rbdyn::RobotModule::Gripper::reverse_limits

Whether the limits should be reversed, see mc_control::Gripper

---

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

• include/mc_rbdyn/RobotModule.h