mc_control::fsm::Grippers Struct Reference

#include <mc_control/fsm/states/Grippers.h>

Inheritance diagram for mc_control::fsm::Grippers:

Collaboration diagram for mc_control::fsm::Grippers:

Public Member Functions
void	start (Controller &) override
bool	run (Controller &) override
void	teardown (Controller &) override
Public Member Functions inherited from mc_control::fsm::State
virtual	~State ()
void	configure_ (const mc_rtc::Configuration &config)
void	start_ (Controller &ctl)
void	teardown_ (Controller &ctl)
virtual void	stop (Controller &)
virtual bool	read_msg (std::string &)
virtual bool	read_write_msg (std::string &, std::string &)
const std::string &	output () const noexcept
const std::string &	name ()
void	name (const std::string &n)

Protected Attributes
std::vector< mc_control::GripperRef >	grippers_
bool	keepSafetyConfig_ = false
Protected Attributes inherited from mc_control::fsm::State
mc_rtc::Configuration	add_contacts_config_
mc_rtc::Configuration	remove_contacts_config_
mc_rtc::Configuration	add_contacts_after_config_
mc_rtc::Configuration	remove_contacts_after_config_
mc_rtc::Configuration	add_collisions_config_
mc_rtc::Configuration	remove_collisions_config_
mc_rtc::Configuration	add_collisions_after_config_
mc_rtc::Configuration	remove_collisions_after_config_
mc_rtc::Configuration	constraints_config_
mc_rtc::Configuration	tasks_config_
mc_rtc::Configuration	remove_posture_task_
mc_rtc::Configuration	config_
std::vector< mc_solver::ConstraintSetPtr >	constraints_
std::vector< std::pair< mc_tasks::MetaTaskPtr, mc_rtc::Configuration > >	tasks_
std::vector< mc_tasks::PostureTaskPtr >	postures_

Additional Inherited Members
Protected Member Functions inherited from mc_control::fsm::State
void	output (const std::string &o)
virtual void	configure (const mc_rtc::Configuration &config)

Detailed Description

Controls the gripper of a robot

This states brings the specified grippers to a specific configuration and outputs "OK" once the grippers' targets are realized.

Configuration options:

• robot: for which robot's grippers this state applies, if ommited, it is assumed to be the main robot in the controller
• grippers: each entry in this object is considered as a gripper, for each object, one can specify the gripper target as:
  • target: an array of double corresponding to the joint configuration of the gripper
  • opening: a single double value between 0 (closed) and 1 (open)

Example:

The following configuration sets a joint target for "l_gripper" (0.7 for the first joint in the gripper and 0.5 for the second joint in the gripper) and a target opening percentage of 0.5 for "r_gripper".

{
 "robot": "jvrc1",
 "grippers":
 {
   "l_gripper": { "target": [0.7, 0.5] },
   "r_gripper": { "opening": 0.5 }
 }
}

Member Function Documentation

run()

bool mc_control::fsm::Grippers::run ( Controller &  ctl )

overridevirtual

Called every iteration until it returns true

Implements mc_control::fsm::State.

start()

void mc_control::fsm::Grippers::start ( Controller &  ctl )

overridevirtual

Called before the state starts being run

This will be called only once with the state fully configured.

Implements mc_control::fsm::State.

teardown()

void mc_control::fsm::Grippers::teardown ( Controller &  ctl )

overridevirtual

Called right before destruction

Implements mc_control::fsm::State.

Member Data Documentation

grippers_

std::vector<mc_control::GripperRef> mc_control::fsm::Grippers::grippers_

protected

keepSafetyConfig_

bool mc_control::fsm::Grippers::keepSafetyConfig_ = false

protected

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

• include/mc_control/fsm/states/Grippers.h