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). | |
player_bbox3d_t | outer_size |
Outside dimensions of gripper (m, m, m). | |
player_bbox3d_t | inner_size |
Inside dimensions of gripper, i.e. | |
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. | |
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.
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).