- PlayerCc
- GripperProxy
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The GripperProxy class is used to control a gripper device.
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#include <playerc++.h>
Public Member Functions | |
| GripperProxy (PlayerClient *aPc, uint32_t aIndex=0) | |
| constructor | |
| ~GripperProxy () | |
| destructor | |
| void | RequestGeometry (void) |
| Geometry request - call before getting the geometry of the gripper through an accessor method. | |
| uint32_t | GetState () const |
| Get the gripper state. | |
| uint32_t | GetBeams () const |
| Get the gripper break beam info. | |
| player_pose3d_t | GetPose () const |
| Get the pose of the gripper. | |
| player_bbox3d_t | GetOuterSize () const |
| Get the outer size of the gripper. | |
| player_bbox3d_t | GetInnerSize () const |
| Get the inner size of the gripper. | |
| uint32_t | GetNumBeams () const |
| Get the number of breakbeams in the gripper. | |
| uint32_t | GetCapacity () const |
| Get the capacity of the gripper's storage. | |
| uint32_t | GetStored () const |
| Get the number of currently-stored objects. | |
| void | Open () |
| Command the gripper to open. | |
| void | Close () |
| Command the gripper to close. | |
| void | Stop () |
| Command the gripper to stop. | |
| void | Store () |
| Command the gripper to store. | |
| void | Retrieve () |
| Command the gripper to retrieve. | |
 Public Member Functions inherited from PlayerCc::ClientProxy | |
| bool | IsValid () const |
| Returns true if we have received any data from the device. | |
| bool | IsFresh () const |
| Fresh is set to true on each new read. More... | |
| void | NotFresh () |
| This states that the data in a client is currently not Fresh. | |
| std::string | GetDriverName () const |
| Returns the driver name. More... | |
| double | GetDataTime () const |
| Returns the received timestamp [s]. | |
| double | GetElapsedTime () const |
| Returns the received timestamp [s]. | |
| PlayerClient * | GetPlayerClient () const |
| Returns a pointer to the Player Client. | |
| uint32_t | GetIndex () const |
| Returns device index. | |
| uint32_t | GetInterface () const |
| Returns device interface. | |
| std::string | GetInterfaceStr () const |
| Returns device interface. | |
| void | SetReplaceRule (bool aReplace, int aType=-1, int aSubtype=-1) |
| Set a replace rule for this proxy on the server. More... | |
| int | HasCapability (uint32_t aType, uint32_t aSubtype) |
| Request capabilities of device. More... | |
| int | GetBoolProp (char *aProperty, bool *aValue) |
| Request a boolean property. | |
| int | SetBoolProp (char *aProperty, bool aValue) |
| Set a boolean property. | |
| int | GetIntProp (char *aProperty, int32_t *aValue) |
| Request an integer property. | |
| int | SetIntProp (char *aProperty, int32_t aValue) |
| Set an integer property. | |
| int | GetDblProp (char *aProperty, double *aValue) |
| Request a double property. | |
| int | SetDblProp (char *aProperty, double aValue) |
| Set a double property. | |
| int | GetStrProp (char *aProperty, char **aValue) |
| Request a string property. | |
| int | SetStrProp (char *aProperty, char *aValue) |
| Set a string property. | |
| template<typename T > | |
| connection_t | ConnectReadSignal (T aSubscriber) |
| Connect a signal to this proxy For more information check out Signals & multithreading. | |
| void | DisconnectReadSignal (connection_t aSubscriber) |
| Disconnect a signal to this proxy. | |
Private Member Functions | |
| void | Subscribe (uint32_t aIndex) |
| void | Unsubscribe () |
Private Attributes | |
| playerc_gripper_t * | mDevice |
Additional Inherited Members | |
| Public Types inherited from PlayerCc::ClientProxy | |
| typedef int | connection_t |
| typedef boost::mutex::scoped_lock | scoped_lock_t |
| typedef int | read_signal_t |
| Protected Member Functions inherited from PlayerCc::ClientProxy | |
| ClientProxy (PlayerClient *aPc, uint32_t aIndex) | |
| template<typename T > | |
| T | GetVar (const T &aV) const |
| template<typename T > | |
| void | GetVarByRef (const T aBegin, const T aEnd, T aDest) const |
| Protected Attributes inherited from PlayerCc::ClientProxy | |
| PlayerClient * | mPc |
| playerc_client_t * | mClient |
| playerc_device_t * | mInfo |
| bool | mFresh |
The GripperProxy class is used to control a gripper device.
The latest gripper data is held in a handful of class attributes.