Gripper.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_PHYSICS_GRIPPER_HH_
18#define GAZEBO_PHYSICS_GRIPPER_HH_
19
20#include <string>
21
22#include "gazebo/util/system.hh"
23
24namespace gazebo
25{
26 namespace physics
27 {
28 // Forward declare private data class
29 class GripperPrivate;
30
33
41 class GZ_PHYSICS_VISIBLE Gripper
42 {
45 public: explicit Gripper(ModelPtr _model);
46
48 public: virtual ~Gripper();
49
53 public: virtual void Load(sdf::ElementPtr _sdf);
54
56 public: virtual void Init();
57
60 public: std::string Name() const;
61
65 public: bool IsAttached() const;
66
69 private: std::unique_ptr<GripperPrivate> dataPtr;
70 };
72 }
73}
74#endif
A gripper abstraction.
Definition Gripper.hh:42
Gripper(ModelPtr _model)
Constructor.
virtual void Init()
Initialize.
std::string Name() const
Return the name of the gripper.
virtual void Load(sdf::ElementPtr _sdf)
Load the gripper.
bool IsAttached() const
True if the gripper is attached to another model.
virtual ~Gripper()
Destructor.
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27