gripper.hpp

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#pragma once
 
#include <string>
 
#include <viam/api/common/v1/common.pb.h>
#include <viam/api/component/gripper/v1/gripper.pb.h>
 
#include <viam/sdk/resource/stoppable.hpp>
 
namespace viam {
namespace sdk {
 
 
class Gripper : public Component, public Stoppable {
   public:
    inline void open() {
        return open({});
    }
 
    virtual void open(const AttributeMap& extra) = 0;
 
    inline bool grab() {
        return grab({});
    }
 
    virtual bool grab(const AttributeMap& extra) = 0;
 
    virtual bool is_moving() = 0;
 
    virtual AttributeMap do_command(const AttributeMap& command) = 0;
 
    inline std::vector<GeometryConfig> get_geometries() {
        return get_geometries({});
    }
 
    virtual std::vector<GeometryConfig> get_geometries(const AttributeMap& extra) = 0;
 
    API api() const override;
 
   protected:
    explicit Gripper(std::string name);
};
 
template <>
struct API::traits<Gripper> {
    static API api();
};
 
}  // namespace sdk
}  // namespace viam