ci_footbot_gripper_actuator.h
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1 
15 #ifndef CCI_FOOTBOT_GRIPPER_ACTUATOR_H
16 #define CCI_FOOTBOT_GRIPPER_ACTUATOR_H
17 
18 /* To avoid dependency problems when including */
19 namespace argos {
20  class CCI_FootBotGripperActuator;
21 }
22 
23 #include <argos3/core/control_interface/ci_actuator.h>
24 #include <argos3/core/utility/math/angles.h>
25 
26 namespace argos {
27 
28  class CCI_FootBotGripperActuator : virtual public CCI_Actuator {
29 
30  public:
31 
32  /* Useful gripper aperture values */
36 
37  public:
38 
43 
48 
53  void SetAperture(const CRadians& c_aperture);
54 
58  virtual void EnableCheckForObjectGrippedRoutine() = 0;
59 
63  virtual void DisableCheckForObjectGrippedRoutine() = 0;
64 
68  void LockPositive();
69 
73  void LockNegative();
74 
78  void Unlock();
79 
80 #ifdef ARGOS_WITH_LUA
81  virtual void CreateLuaState(lua_State* pt_lua_state);
82 #endif
83 
84  protected:
85 
87 
88  };
89 
90 }
91 
92 #endif
virtual void DisableCheckForObjectGrippedRoutine()=0
Disables the ASEBA routine that checks for a gripped object each time the gripper is opened...
void SetAperture(const CRadians &c_aperture)
Sets the gripper aperture.
The basic interface for all actuators.
Definition: ci_actuator.h:34
void Unlock()
Unlock gripper: objects are released.
void LockPositive()
Sets gripper aperture to lock, positive direction.
virtual void EnableCheckForObjectGrippedRoutine()=0
Enables the ASEBA routine that checks for a gripped object each time the gripper is opened...
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
void LockNegative()
Sets gripper aperture to lock, negative direction.
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
virtual ~CCI_FootBotGripperActuator()
Class destructor.