Grippers.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/fsm/State.h>
#include <mc_control/generic_gripper.h>
 
namespace mc_control
{
 
namespace fsm
{
 
struct MC_CONTROL_FSM_STATE_DLLAPI Grippers : State
{
  void start(Controller &) override;
 
  bool run(Controller &) override;
 
  void teardown(Controller &) override;
 
protected:
  std::vector<mc_control::GripperRef> grippers_;
  bool keepSafetyConfig_ = false; 
};
 
} // namespace fsm
 
} // namespace mc_control