viam::sdk::impl::GripperClient Class Reference

gRPC client implementation of a Gripper component More...

#include <gripper_client.hpp>

Inheritance diagram for viam::sdk::impl::GripperClient:

Public Types
using	interface_type = Gripper

Public Member Functions
	GripperClient (std::string names, std::shared_ptr< grpc::Channel > channel)
void	open (const ProtoStruct &extra) override
	Open the gripper.
bool	grab (const ProtoStruct &extra) override
	Instruct the gripper to grab.
Gripper::holding_status	is_holding_something (const ProtoStruct &extra) override
	Reports whether the gripper is holding onto a object (alongside other information).
void	stop (const ProtoStruct &extra) override
	Stops a resource from running.
bool	is_moving () override
	Reports if the gripper is in motion.
ProtoStruct	do_command (const ProtoStruct &command) override
	Send/receive arbitrary commands to the resource.
std::vector< GeometryConfig >	get_geometries (const ProtoStruct &extra) override
	Returns GeometryConfigs associated with the calling arm.
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.
bool	grab ()
	Instruct the gripper to grab.
virtual bool	grab (const ProtoStruct &extra)=0
	Instruct the gripper to grab.
void	open ()
	Open the gripper.
virtual void	open (const ProtoStruct &extra)=0
	Open the gripper.
Public Member Functions inherited from viam::sdk::Gripper
void	open ()
	Open the gripper.
bool	grab ()
	Instruct the gripper to grab.
holding_status	is_holding_something ()
	Reports whether the gripper is holding onto a object (alongside other information).
std::vector< GeometryConfig >	get_geometries ()
	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
void	stop ()
	Stops a resource from running.

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

Detailed Description

gRPC client implementation of a Gripper component

Member Function Documentation

do_command()

ProtoStruct viam::sdk::impl::GripperClient::do_command ( const ProtoStruct & command )

overridevirtual

Send/receive arbitrary commands to the resource.

Parameters

Command

the command to execute.

Returns

The result of the executed command.

Implements viam::sdk::Gripper.

get_geometries() [1/2]

std::vector< GeometryConfig > viam::sdk::impl::GripperClient::get_geometries ( const ProtoStruct & extra )

overridevirtual

Returns GeometryConfigs associated with the calling arm.

Parameters

extra

Any additional arguments to the method

Implements viam::sdk::Gripper.

get_geometries() [2/2]

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

virtual

Returns GeometryConfigs associated with the calling arm.

Parameters

extra

Any additional arguments to the method

Implements viam::sdk::Gripper.

grab() [1/3]

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

inline

Instruct the gripper to grab.

Returns

bool indicating if the gripper grabbed something.

grab() [2/3]

bool viam::sdk::impl::GripperClient::grab ( const ProtoStruct & extra )

overridevirtual

Instruct the gripper to grab.

Parameters

extra

Any additional arguments to the method.

Returns

bool indicating if the gripper grabbed something.

Implements viam::sdk::Gripper.

grab() [3/3]

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

virtual

Instruct the gripper to grab.

Parameters

extra

Any additional arguments to the method.

Returns

bool indicating if the gripper grabbed something.

Implements viam::sdk::Gripper.

is_holding_something()

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

overridevirtual

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).

Implements viam::sdk::Gripper.

is_moving()

bool viam::sdk::impl::GripperClient::is_moving ( )

overridevirtual

Reports if the gripper is in motion.

Implements viam::sdk::Gripper.

open() [1/2]

void viam::sdk::impl::GripperClient::open ( const ProtoStruct & extra )

overridevirtual

Open the gripper.

Parameters

extra

Any additional arguments to the method.

Implements viam::sdk::Gripper.

open() [2/2]

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

virtual

Open the gripper.

Parameters

extra

Any additional arguments to the method.

Implements viam::sdk::Gripper.

stop()

void viam::sdk::impl::GripperClient::stop ( const ProtoStruct & extra )

overridevirtual

Stops a resource from running.

Parameters

extra

Extra arguments to pass to the resource's stop method.

Implements viam::sdk::Stoppable.

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

• src/viam/sdk/components/private/gripper_client.hpp