Stg::ModelGripper::config_t Struct Reference

#include <stage.hh>

Public Attributes

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

Detailed Description

gripper configuration

Member Data Documentation

bool Stg::ModelGripper::config_t::autosnatch

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

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

points to a model detected by the beams

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

distance from the end of the paddle

double Stg::ModelGripper::config_t::close_limit

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

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

pointers to a model detected by the contacts

Model* Stg::ModelGripper::config_t::gripped
lift_state_t Stg::ModelGripper::config_t::lift
double Stg::ModelGripper::config_t::lift_position

0.0 = full down, 1.0 full up

double Stg::ModelGripper::config_t::paddle_position

0.0 = full open, 1.0 full closed

Size Stg::ModelGripper::config_t::paddle_size

paddle dimensions

paddle_state_t Stg::ModelGripper::config_t::paddles
bool Stg::ModelGripper::config_t::paddles_stalled

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