Stg::ModelGripper::config_t Struct Reference

#include <stage.hh>

Public Attributes

bool autosnatch
 if true, cycle the gripper through open-close-up-down automatically
 
Modelbeam [2]
 points to a model detected by the beams
 
double break_beam_inset [2]
 distance from the end of the paddle
 
double close_limit
 How far the gripper can close. If < 1.0, the gripper has its mouth full.
 
Modelcontact [2]
 pointers to a model detected by the contacts
 
Modelgripped
 
lift_state_t lift
 
double lift_position
 0.0 = full down, 1.0 full up
 
double paddle_position
 0.0 = full open, 1.0 full closed
 
Size paddle_size
 paddle dimensions
 
paddle_state_t paddles
 
bool paddles_stalled
 true iff some solid object stopped the paddles closing or opening
 

Detailed Description

gripper configuration

Member Data Documentation

◆ autosnatch

bool Stg::ModelGripper::config_t::autosnatch

if true, cycle the gripper through open-close-up-down automatically

◆ beam

Model* Stg::ModelGripper::config_t::beam[2]

points to a model detected by the beams

◆ break_beam_inset

double Stg::ModelGripper::config_t::break_beam_inset[2]

distance from the end of the paddle

◆ close_limit

double Stg::ModelGripper::config_t::close_limit

How far the gripper can close. If < 1.0, the gripper has its mouth full.

◆ contact

Model* Stg::ModelGripper::config_t::contact[2]

pointers to a model detected by the contacts

◆ gripped

Model* Stg::ModelGripper::config_t::gripped

◆ lift

lift_state_t Stg::ModelGripper::config_t::lift

◆ lift_position

double Stg::ModelGripper::config_t::lift_position

0.0 = full down, 1.0 full up

◆ paddle_position

double Stg::ModelGripper::config_t::paddle_position

0.0 = full open, 1.0 full closed

◆ paddle_size

Size Stg::ModelGripper::config_t::paddle_size

paddle dimensions

◆ paddles

paddle_state_t Stg::ModelGripper::config_t::paddles

◆ paddles_stalled

bool Stg::ModelGripper::config_t::paddles_stalled

true iff some solid object stopped the paddles closing or opening


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