gripper.hpp

Go to the documentation of this file.

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