ci_footbot_gripper_actuator.h

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#ifndef CCI_FOOTBOT_GRIPPER_ACTUATOR_H
#define CCI_FOOTBOT_GRIPPER_ACTUATOR_H

/* To avoid dependency problems when including */
namespace argos {
   class CCI_FootBotGripperActuator;
}

#include <argos3/core/control_interface/ci_actuator.h>
#include <argos3/core/utility/math/angles.h>

namespace argos {

   class CCI_FootBotGripperActuator : virtual public CCI_Actuator {

   public:

      /* Useful gripper aperture values */
      static CRadians UNLOCKED;
      static CRadians LOCKED_POSITIVE;
      static CRadians LOCKED_NEGATIVE;

   public:

      CCI_FootBotGripperActuator();

      virtual ~CCI_FootBotGripperActuator() {}

      void SetAperture(const CRadians& c_aperture);

      virtual void EnableCheckForObjectGrippedRoutine() = 0;

      virtual void DisableCheckForObjectGrippedRoutine() = 0;

      void LockPositive();

      void LockNegative();

      void Unlock();

#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State* pt_lua_state);
#endif

   protected:

      CRadians m_cAperture;

   };

}

#endif