High-level interface for a PR2's gripper. More...

#include <gripper.h>

Public Member Functions
bool	StartOpening ()
	Starts opening the gripper. More...

bool	StartClosing ()
	Starts closing the gripper. More...

bool	StartClosing (double max_effort)
	Starts closing the gripper with a given maximum effort. More...

bool	IsDone () const
	Returns true if the gripper is done opening or closing. More...

void	Cancel ()
	Stops the gripper's opening or closing movement. More...

Static Public Member Functions
static Gripper	Left ()
	Returns a Gripper object for the PR2's left gripper. More...

static Gripper	Right ()
	Returns a Gripper object for the PR2's right gripper. More...

Detailed Description

High-level interface for a PR2's gripper.

Example:

rapid::pr2::Gripper left = rapid::pr2::Gripper::Left();
left.StartClosing();
while (ros::ok() && !left.IsDone()) {
  ros::spinOnce();
}

Definition at line 24 of file gripper.h.

Member Function Documentation

void rapid::pr2::Gripper::Cancel ( )

Stops the gripper's opening or closing movement.

bool rapid::pr2::Gripper::IsDone ( ) const

Returns true if the gripper is done opening or closing.

static Gripper rapid::pr2::Gripper::Left ( )

static

Returns a Gripper object for the PR2's left gripper.

static Gripper rapid::pr2::Gripper::Right ( )

static

Returns a Gripper object for the PR2's right gripper.

bool rapid::pr2::Gripper::StartClosing ( )

Starts closing the gripper.

Returns: true if the goal was sent, false if this couldn't connect to the gripper action server within 1 second.

bool rapid::pr2::Gripper::StartClosing ( double max_effort )

Starts closing the gripper with a given maximum effort.

Parameters

[in] max_effort The maximum amount of force to use, in Newtons.

Returns: true if the goal was sent, false if this couldn't connect to the gripper action server within 1 second.

bool rapid::pr2::Gripper::StartOpening ( )

Starts opening the gripper.

Returns: true if the goal was sent, false if this couldn't connect to the gripper action server within 1 second.

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