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player_gripper_geom Struct Reference

Request/reply: get geometry. More...

#include <player_interfaces.h>

Public Attributes

player_pose3d_t pose
 Gripper pose, in robot cs (m, m, m, rad, rad, rad). More...
 
player_bbox3d_t outer_size
 Outside dimensions of gripper (m, m, m). More...
 
player_bbox3d_t inner_size
 Inside dimensions of gripper, i.e. More...
 
uint8_t num_beams
 Number of breakbeams the gripper has.
 
uint8_t capacity
 Capacity for storing objects - if 0, then the gripper can't store.
 

Detailed Description

Request/reply: get geometry.

The geometry (pose, outer size and inner size) of the gripper device can be queried by sending a null PLAYER_GRIPPER_REQ_GET_GEOM request.

Member Data Documentation

player_bbox3d_t player_gripper_geom::inner_size

Inside dimensions of gripper, i.e.

the size of the space between the fingers when they are fully open (m, m, m)

player_bbox3d_t player_gripper_geom::outer_size

Outside dimensions of gripper (m, m, m).

player_pose3d_t player_gripper_geom::pose

Gripper pose, in robot cs (m, m, m, rad, rad, rad).


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

Last updated 12 September 2005 21:38:45