Gripper
[Models]

Data Structures
struct	stg_gripper_config_t
struct	stg_gripper_cmd_t
struct	stg_gripper_data_t
Enumerations
enum	stg_gripper_paddle_state_t { STG_GRIPPER_PADDLE_OPEN = 0, STG_GRIPPER_PADDLE_CLOSED, STG_GRIPPER_PADDLE_OPENING, STG_GRIPPER_PADDLE_CLOSING }
enum	stg_gripper_lift_state_t { STG_GRIPPER_LIFT_DOWN = 0, STG_GRIPPER_LIFT_UP, STG_GRIPPER_LIFT_UPPING, STG_GRIPPER_LIFT_DOWNING }
enum	stg_gripper_cmd_type_t {   STG_GRIPPER_CMD_NOP = 0, STG_GRIPPER_CMD_OPEN, STG_GRIPPER_CMD_CLOSE, STG_GRIPPER_CMD_UP,   STG_GRIPPER_CMD_DOWN }
Functions
void	stg_print_gripper_config (stg_gripper_config_t *slc)
stg_model_t *	stg_gripper_create (stg_world_t *world, stg_model_t *parent, stg_id_t id, char *token)

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Detailed Description

Implements the gripper model: emulates a pioneer 2D gripper

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Enumeration Type Documentation

enum stg_gripper_paddle_state_t

Enumerator: STG_GRIPPER_PADDLE_OPEN  STG_GRIPPER_PADDLE_CLOSED  STG_GRIPPER_PADDLE_OPENING  STG_GRIPPER_PADDLE_CLOSING

enum stg_gripper_lift_state_t

Enumerator: STG_GRIPPER_LIFT_DOWN  STG_GRIPPER_LIFT_UP  STG_GRIPPER_LIFT_UPPING  STG_GRIPPER_LIFT_DOWNING

enum stg_gripper_cmd_type_t

Enumerator: STG_GRIPPER_CMD_NOP  STG_GRIPPER_CMD_OPEN  STG_GRIPPER_CMD_CLOSE  STG_GRIPPER_CMD_UP  STG_GRIPPER_CMD_DOWN

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Function Documentation

void stg_print_gripper_config (  stg_gripper_config_t *  slc  )

print human-readable version of the gripper config struct

stg_model_t* stg_gripper_create (  stg_world_t *  world, stg_model_t *  parent, stg_id_t  id, char *  token )

Create a new gripper model

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