viam::sdk::Gripper Class Reference

A Gripper represents a physical robotic gripper. More...

#include "components/gripper.hpp"

Inheritance diagram for viam::sdk::Gripper:

Classes
struct	holding_status
	whether the gripper is holding something (along with other contextual info) More...

Public Member Functions
void	open ()
	Open the gripper.
virtual void	open (const ProtoStruct &extra)=0
	Open the gripper.
bool	grab ()
	Instruct the gripper to grab.
virtual bool	grab (const ProtoStruct &extra)=0
	Instruct the gripper to grab.
holding_status	is_holding_something ()
	Reports whether the gripper is holding onto a object (alongside other information).
virtual holding_status	is_holding_something (const ProtoStruct &extra)=0
	Reports whether the gripper is holding onto a object (alongside other information).
virtual bool	is_moving ()=0
	Reports if the gripper is in motion.
virtual ProtoStruct	do_command (const ProtoStruct &command)=0
	Send/receive arbitrary commands to the resource.
std::vector< GeometryConfig >	get_geometries ()
	Returns GeometryConfigs associated with the calling arm.
virtual std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra)=0
	Returns GeometryConfigs associated with the calling arm.
API	api () const override
	Returns the API associated with a particular resource.
Public Member Functions inherited from viam::sdk::Component
Name	get_resource_name () const override
	Returns the Name for a particular resource.
Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)
virtual std::string	name () const
	Return the resource's name.
void	set_log_level (log_level) const
	Set the log level for log messages originating from this Resource.
Public Member Functions inherited from viam::sdk::Stoppable
virtual void	stop (const ProtoStruct &extra)=0
	Stops a resource from running.
void	stop ()
	Stops a resource from running.

Protected Member Functions
	Gripper (std::string name)
Protected Member Functions inherited from viam::sdk::Component
	Component (std::string name)
Protected Member Functions inherited from viam::sdk::Resource
Name	get_resource_name (const std::string &type) const

Additional Inherited Members
Protected Attributes inherited from viam::sdk::Resource
LogSource	logger_

Detailed Description

A Gripper represents a physical robotic gripper.

This acts as an abstract parent class to be inherited from by any drivers representing specific gripper implementations. This class cannot be used on its own.

Member Function Documentation

api()

API viam::sdk::Gripper::api ( ) const

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

do_command()

virtual ProtoStruct viam::sdk::Gripper::do_command ( const ProtoStruct & command )

pure virtual

Send/receive arbitrary commands to the resource.

Parameters

Command

the command to execute.

Returns

The result of the executed command.

Implemented in viam::sdk::impl::GripperClient.

get_geometries()

virtual std::vector< GeometryConfig > viam::sdk::Gripper::get_geometries ( const ProtoStruct & extra )

pure virtual

Returns GeometryConfigs associated with the calling arm.

Parameters

extra

Any additional arguments to the method

Implemented in viam::sdk::impl::GripperClient, and viam::sdk::impl::GripperClient.

grab() [1/2]

bool viam::sdk::Gripper::grab ( )

inline

Instruct the gripper to grab.

Returns

bool indicating if the gripper grabbed something.

grab() [2/2]

virtual bool viam::sdk::Gripper::grab ( const ProtoStruct & extra )

pure virtual

Instruct the gripper to grab.

Parameters

extra

Any additional arguments to the method.

Returns

bool indicating if the gripper grabbed something.

Implemented in viam::sdk::impl::GripperClient, and viam::sdk::impl::GripperClient.

is_holding_something() [1/2]

holding_status viam::sdk::Gripper::is_holding_something ( )

inline

Reports whether the gripper is holding onto a object (alongside other information).

Returns

holding_status (see holding_status struct for more info).

is_holding_something() [2/2]

virtual holding_status viam::sdk::Gripper::is_holding_something ( const ProtoStruct & extra )

pure virtual

Reports whether the gripper is holding onto a object (alongside other information).

Parameters

extra

Any additional arguments to the method.

Returns

holding_status (see holding_status struct for more info).

Implemented in viam::sdk::impl::GripperClient.

is_moving()

virtual bool viam::sdk::Gripper::is_moving ( )

pure virtual

Reports if the gripper is in motion.

Implemented in viam::sdk::impl::GripperClient.

open()

virtual void viam::sdk::Gripper::open ( const ProtoStruct & extra )

pure virtual

Open the gripper.

Parameters

extra

Any additional arguments to the method.

Implemented in viam::sdk::impl::GripperClient, and viam::sdk::impl::GripperClient.

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

• src/viam/sdk/components/gripper.hpp