Child class for to mock the gripper hardware. More...

Inheritance diagram for bioscara_hardware_drivers::MockGripper:

Public Member Functions
	MockGripper (float reduction, float offset, float min, float max, float backup_init_pos)
	Construct a new MockGripper object.

Public Member Functions inherited from bioscara_hardware_drivers::BaseGripper
	BaseGripper (float reduction, float offset, float min, float max, float backup_init_pos)
	Construct a new BaseGripper object.

	~BaseGripper (void)
	Destroy the BaseGripper object.

virtual err_type_t	init (void)
	Initializes the gripper.

virtual err_type_t	deinit (void)
	Deinitializes the gripper.

virtual err_type_t	enable (void)
	Enables the gripper.

virtual err_type_t	disable (void)
	Disables the gripper.

virtual err_type_t	setPosition (float width)
	Sets the gripper width in m.

virtual err_type_t	getPosition (float &width)
	Gets the gripper width.

virtual void	setReduction (float reduction)
	Manually set reduction.

virtual void	setOffset (float offset)
	Manually set offset.

Additional Inherited Members
Protected Member Functions inherited from bioscara_hardware_drivers::BaseGripper
err_type_t	save_last_position (float pos)
	Stores the latest position to the buffer file.

err_type_t	retrieve_last_position (float &pos)
	Retrieves the stored position from the buffer file.

Protected Attributes inherited from bioscara_hardware_drivers::BaseGripper
float	_reduction = 1
	gripper width to actuator reduction ratio

float	_offset = 0
	gripper width position offset

float	_min = 0
	gripper width lower limit

float	_max = 0
	gripper width upper limit

float	_backup_init_pos = 0.0
	Initial position assumed if none can be retrieved from the buffer file.

float	_pos = _backup_init_pos
	stored position

float	_pos_get = _pos
	reported position

Detailed Description

Child class for to mock the gripper hardware.

Use this class if you dont wish to use the gripper hardware. Commands are simply mirrored.

Constructor & Destructor Documentation

bioscara_hardware_drivers::MockGripper::MockGripper	(	float	reduction,
		float	offset,
		float	min,
		float	max,
		float	backup_init_pos
	)

Construct a new MockGripper object.

see the BaseGripper constructor for a description of the parameters.

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

lib/ros2_ws/src/dalsa_bioscara_grippers/bioscara_gripper_hardware_driver/include/bioscara_gripper_hardware_driver/mMockGripper.h
lib/ros2_ws/src/dalsa_bioscara_grippers/bioscara_gripper_hardware_driver/src/mMockGripper.cpp