An entity that stores the state of a robot gripper. More...

#include <gripper_equipped_entity.h>

Inheritance diagram for argos::CGripperEquippedEntity:

Collaboration diagram for argos::CGripperEquippedEntity:

Public Member Functions
	ENABLE_VTABLE ()

	CGripperEquippedEntity (CComposableEntity *pc_parent)
	Class constructor. More...

	CGripperEquippedEntity (CComposableEntity *pc_parent, const std::string &str_id, const CVector3 &c_offset, const CVector3 &c_direction, Real f_lock_threshold=0.5f)
	Class constructor. More...

virtual void	Init (TConfigurationNode &t_tree)
	Initializes the state of the entity from the XML configuration tree. More...

virtual void	Reset ()
	Resets the state of the entity to whatever it was after Init() or one of the standalone constructors was called. More...

const CVector3 &	GetOffset () const
	Returns the offset of the gripper with respect to the reference point. More...

const CVector3 &	GetInitOffset () const
	Returns the initial offset of the gripper with respect to the reference point. More...

void	SetOffset (const CVector3 &c_offset)
	Sets the offset of the gripper with respect to the reference point. More...

void	SetInitOffset (const CVector3 &c_offset)
	Sets the initial offset of the gripper with respect to the reference point. More...

const CVector3 &	GetDirection () const
	Returns the facing direction of the gripper with respect to the local X-axis. More...

const CVector3 &	GetInitDirection () const
	Returns the initial facing direction of the gripper with respect to the local X-axis. More...

void	SetDirection (const CVector3 &c_direction)
	Sets the facing direction of the gripper with respect to the local X-axis. More...

void	SetInitDirection (const CVector3 &c_direction)
	Sets the initial facing direction of the gripper with respect to the local X-axis. More...

Real	GetLockState () const
	Returns the lock state of the gripper. More...

void	SetLockState (Real f_lock_state)
	Sets the lock state of the gripper. More...

Real	GetLockThreshold () const
	Returns the lock threshold of the gripper. More...

void	SetLockThreshold (Real f_lock_threshold)
	Sets the lock threshold of the gripper. More...

bool	IsLocked () const
	Returns `true` if the gripper is locked. More...

bool	IsGripping () const
	Returns `true` if this gripper is gripping something. More...

CEmbodiedEntity &	GetGrippedEntity ()
	Returns the embodied entity currently gripped by this gripper. More...

void	SetGrippedEntity (CEmbodiedEntity &c_entity)
	Sets the embodied entity currently gripped by this gripper. More...

void	ClearGrippedEntity ()
	Clears the reference to the embodied entity currently gripped by this gripper. More...

virtual std::string	GetTypeDescription () const
	Returns a string label for this class. More...

Public Member Functions inherited from argos::CEntity
	ENABLE_VTABLE ()

	CEntity (CComposableEntity *pc_parent)
	Class constructor. More...

	CEntity (CComposableEntity *pc_parent, const std::string &str_id)
	Class constructor. More...

virtual	~CEntity ()
	Class destructor. More...

virtual void	Destroy ()
	Destroys the entity, undoing whatever was done by Init() or by the standalone constructor. More...

const std::string &	GetId () const
	Returns the id of this entity. More...

std::string	GetContext () const
	Returns the context of this entity. More...

bool	HasParent () const
	Returns `true` if this entity has a parent. More...

CEntity &	GetRootEntity ()
	Returns the root entity containing this entity. More...

const CEntity &	GetRootEntity () const
	Returns the root entity containing this entity. More...

CComposableEntity &	GetParent ()
	Returns this entity's parent. More...

const CComposableEntity &	GetParent () const
	Returns this entity's parent. More...

void	SetParent (CComposableEntity &c_parent)
	Sets this entity's parent. More...

virtual void	Update ()
	Updates the state of this entity. More...

ssize_t	GetIndex () const
	Returns the entity index. More...

void	SetIndex (ssize_t n_idx)
	Sets the entity index. More...

bool	IsEnabled () const
	Returns `true` if the entity is enabled. More...

void	Enable ()
	Enables the entity. More...

void	Disable ()
	Disables the entity. More...

virtual void	SetEnabled (bool b_enabled)
	Enables or disables an entity. More...

TConfigurationNode *	GetConfigurationNode ()
	Returns a pointer to the configuration node that was used to create this entity. More...

Public Member Functions inherited from argos::CBaseConfigurableResource
virtual	~CBaseConfigurableResource ()
	Class destructor. More...

Public Member Functions inherited from argos::EnableVTableFor< CEntity >
size_t	GetTagHelper (const DERIVED *) const

Additional Inherited Members
Public Types inherited from argos::CEntity
typedef std::vector< CEntity * >	TVector
	A vector of entities. More...

typedef unordered_map< std::string, CEntity * >	TMap
	A map of entities. More...

typedef std::multimap< std::string, CEntity * >	TMultiMap
	A multi-map of entities. More...

Detailed Description

An entity that stores the state of a robot gripper.

This class provides a component that stores the state of a robot gripper. The state is represented by a Real value between 0 and 1, where 0 means unlocked and 1 means locked. In-between values are also allowed. The transition between locked and unlocked state is when the lock state exceeds m_fLockThreshold, which is set to 0.5 by default.

The gripper can also be oriented, acting on its offset and direction attributes. The offset refers to the position of the gripper with respect to the reference point of the robot. The direction refers to where the gripper is facing.

Definition at line 37 of file gripper_equipped_entity.h.

Constructor & Destructor Documentation

◆ CGripperEquippedEntity() [1/2]

argos::CGripperEquippedEntity::CGripperEquippedEntity ( CComposableEntity * pc_parent )

Class constructor.

This constructor is meant to be used with the Init() method.

Parameters

pc_parent The parent of this entity.

Definition at line 20 of file gripper_equipped_entity.cpp.

◆ CGripperEquippedEntity() [2/2]

argos::CGripperEquippedEntity::CGripperEquippedEntity	(	CComposableEntity *	pc_parent,
		const std::string &	str_id,
		const CVector3 &	c_offset,
		const CVector3 &	c_direction,
		Real	f_lock_threshold = `0.5f`
	)

Class constructor.

This constructor is meant to be standalone. You should not call Init() after using this constructor, or memory leaks are likely to happen.

Parameters

pc_parent	The parent of this entity.
str_id	The id of this entity.
c_offset	The positional offset of this gripper with respect to the robot reference point.
c_direction	The facing direction of this gripper.
f_lock_threshold	The lock value above which the gripper is considered locked.

Definition at line 31 of file gripper_equipped_entity.cpp.

Member Function Documentation

◆ ClearGrippedEntity()

void argos::CGripperEquippedEntity::ClearGrippedEntity ( )

inline

Clears the reference to the embodied entity currently gripped by this gripper.

Definition at line 217 of file gripper_equipped_entity.h.

◆ ENABLE_VTABLE()

argos::CGripperEquippedEntity::ENABLE_VTABLE ( )

◆ GetDirection()

const CVector3& argos::CGripperEquippedEntity::GetDirection ( ) const

inline

Returns the facing direction of the gripper with respect to the local X-axis.

Returns: The facing direction of the gripper with respect to the local X-axis

Definition at line 118 of file gripper_equipped_entity.h.

◆ GetGrippedEntity()

CEmbodiedEntity & argos::CGripperEquippedEntity::GetGrippedEntity ( )

Returns the embodied entity currently gripped by this gripper.

Returns: The embodied entity currently gripped by this gripper.

Exceptions

CARGoSException if no entity is being gripped.

Definition at line 96 of file gripper_equipped_entity.cpp.

◆ GetInitDirection()

const CVector3& argos::CGripperEquippedEntity::GetInitDirection ( ) const

inline

Returns the initial facing direction of the gripper with respect to the local X-axis.

Returns: The initial facing direction of the gripper with respect to the local X-axis

See also: Reset()

Definition at line 127 of file gripper_equipped_entity.h.

◆ GetInitOffset()

const CVector3& argos::CGripperEquippedEntity::GetInitOffset ( ) const

inline

Returns the initial offset of the gripper with respect to the reference point.

Returns: The initial offset of the gripper with respect to the reference point.

See also: Reset()

Definition at line 93 of file gripper_equipped_entity.h.

◆ GetLockState()

Real argos::CGripperEquippedEntity::GetLockState ( ) const

inline

Returns the lock state of the gripper.

The lock state is a Real in the range [0:1].

Returns: The lock state of the gripper.

Definition at line 153 of file gripper_equipped_entity.h.

◆ GetLockThreshold()

Real argos::CGripperEquippedEntity::GetLockThreshold ( ) const

inline

Returns the lock threshold of the gripper.

The lock threshold is a Real in the range [0:1].

Returns: The lock threshold of the gripper.

Definition at line 169 of file gripper_equipped_entity.h.

◆ GetOffset()

const CVector3& argos::CGripperEquippedEntity::GetOffset ( ) const

inline

Returns the offset of the gripper with respect to the reference point.

Returns: The offset of the gripper with respect to the reference point.

Definition at line 84 of file gripper_equipped_entity.h.

◆ GetTypeDescription()

virtual std::string argos::CGripperEquippedEntity::GetTypeDescription ( ) const

inlinevirtual

Returns a string label for this class.

Returns: A string label for this class.

Reimplemented from argos::CEntity.

Definition at line 221 of file gripper_equipped_entity.h.

◆ Init()

void argos::CGripperEquippedEntity::Init ( TConfigurationNode & t_tree )

virtual

Initializes the state of the entity from the XML configuration tree.

Exceptions

CARGoSException if a parse error occurs

Reimplemented from argos::CEntity.

Definition at line 51 of file gripper_equipped_entity.cpp.

◆ IsGripping()

bool argos::CGripperEquippedEntity::IsGripping ( ) const

inline

Returns true if this gripper is gripping something.

Returns: true if this gripper is gripping something.

Definition at line 195 of file gripper_equipped_entity.h.

◆ IsLocked()

bool argos::CGripperEquippedEntity::IsLocked ( ) const

inline

Returns true if the gripper is locked.

The gripper is considered locked if its state is greater than the lock threshold.

Returns: true if the gripper is locked.

See also: GetLockState(); GetLockThreshold()

Definition at line 187 of file gripper_equipped_entity.h.

◆ Reset()

void argos::CGripperEquippedEntity::Reset ( )

virtual

Resets the state of the entity to whatever it was after Init() or one of the standalone constructors was called.

Reimplemented from argos::CEntity.

Definition at line 70 of file gripper_equipped_entity.cpp.

◆ SetDirection()

void argos::CGripperEquippedEntity::SetDirection ( const CVector3 & c_direction )

inline

Sets the facing direction of the gripper with respect to the local X-axis.

Parameters

c_direction The facing direction of the gripper with respect to the local X-axis

Definition at line 135 of file gripper_equipped_entity.h.

◆ SetGrippedEntity()

void argos::CGripperEquippedEntity::SetGrippedEntity ( CEmbodiedEntity & c_entity )

inline

Sets the embodied entity currently gripped by this gripper.

Parameters

c_entity The embodied entity currently gripped by this gripper.

Definition at line 210 of file gripper_equipped_entity.h.

◆ SetInitDirection()

void argos::CGripperEquippedEntity::SetInitDirection ( const CVector3 & c_direction )

inline

Sets the initial facing direction of the gripper with respect to the local X-axis.

Parameters

c_direction The initial facing direction of the gripper with respect to the local X-axis

See also: Reset()

Definition at line 144 of file gripper_equipped_entity.h.

◆ SetInitOffset()

void argos::CGripperEquippedEntity::SetInitOffset ( const CVector3 & c_offset )

inline

Sets the initial offset of the gripper with respect to the reference point.

Parameters

c_offset The initial offset of the gripper with respect to the reference point.

See also: Reset()

Definition at line 110 of file gripper_equipped_entity.h.

◆ SetLockState()

void argos::CGripperEquippedEntity::SetLockState ( Real f_lock_state )

Sets the lock state of the gripper.

The lock state is a Real in the range [0:1]. The passed value is clamped internally.

Returns: The lock state of the gripper.

Definition at line 80 of file gripper_equipped_entity.cpp.

◆ SetLockThreshold()

void argos::CGripperEquippedEntity::SetLockThreshold ( Real f_lock_threshold )

Sets the lock threshold of the gripper.

The lock threshold is a Real in the range [0:1]. The passed value is clamped internally.

Returns: The lock threshold of the gripper.

Definition at line 88 of file gripper_equipped_entity.cpp.

◆ SetOffset()

void argos::CGripperEquippedEntity::SetOffset ( const CVector3 & c_offset )

inline

Sets the offset of the gripper with respect to the reference point.

Parameters

c_offset The offset of the gripper with respect to the reference point.

Definition at line 101 of file gripper_equipped_entity.h.

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CGripperEquippedEntity() [1/2]

◆ CGripperEquippedEntity() [2/2]

Member Function Documentation

◆ ClearGrippedEntity()

◆ ENABLE_VTABLE()

◆ GetDirection()

◆ GetGrippedEntity()

◆ GetInitDirection()

◆ GetInitOffset()

◆ GetLockState()

◆ GetLockThreshold()

◆ GetOffset()

◆ GetTypeDescription()

◆ Init()

◆ IsGripping()

◆ IsLocked()

◆ Reset()

◆ SetDirection()

◆ SetGrippedEntity()

◆ SetInitDirection()

◆ SetInitOffset()

◆ SetLockState()

◆ SetLockThreshold()

◆ SetOffset()