Drake
WsgAction Class Reference

An Action that closes / opens the gripper. More...

#include <drake/examples/kuka_iiwa_arm/pick_and_place/action.h>

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Public Member Functions

 WsgAction ()
 
void OpenGripper (const WorldState &est_state, lcmt_schunk_wsg_command *msg)
 Populates msg with an LCM message that tells the WSG gripper driver to fully open. More...
 
void CloseGripper (const WorldState &est_state, lcmt_schunk_wsg_command *msg)
 Populates msg with an LCM message that tells the WSG gripper driver to fully close. More...
 
bool ActionFailed (const WorldState &) const override
 Returns true if the action has failed based on the provided estimated state. More...
 
bool ActionFinished (const WorldState &est_state) const override
 Returns true if the gripper stopped moving, and it is at least 0.5 seconds after an Open / Close command was last issued. More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 WsgAction (const WsgAction &)=default
 
WsgActionoperator= (const WsgAction &)=default
 
 WsgAction (WsgAction &&)=default
 
WsgActionoperator= (WsgAction &&)=default
 
- Public Member Functions inherited from Action
virtual ~Action ()
 
virtual bool ActionStarted () const
 Returns true if the action started. More...
 
double get_action_start_time () const
 Returns the time when the action has started. More...
 
double get_time_since_action_start (double time) const
 Returns elapsed time since beginning of the action. More...
 
virtual void Reset ()
 Resets the action's internal states. More...
 
 Action (const Action &)=default
 
Actionoperator= (const Action &)=default
 
 Action (Action &&)=default
 
Actionoperator= (Action &&)=default
 

Additional Inherited Members

- Protected Member Functions inherited from Action
 Action ()
 
void StartAction (double start_time)
 Set the action initial time. More...
 

Detailed Description

An Action that closes / opens the gripper.

Constructor & Destructor Documentation

WsgAction ( const WsgAction )
default
WsgAction ( WsgAction &&  )
default
WsgAction ( )

Member Function Documentation

bool ActionFailed ( const WorldState est_state) const
inlineoverridevirtual

Returns true if the action has failed based on the provided estimated state.

Implements Action.

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bool ActionFinished ( const WorldState est_state) const
overridevirtual

Returns true if the gripper stopped moving, and it is at least 0.5 seconds after an Open / Close command was last issued.

Implements Action.

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void CloseGripper ( const WorldState est_state,
lcmt_schunk_wsg_command *  msg 
)

Populates msg with an LCM message that tells the WSG gripper driver to fully close.

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void OpenGripper ( const WorldState est_state,
lcmt_schunk_wsg_command *  msg 
)

Populates msg with an LCM message that tells the WSG gripper driver to fully open.

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WsgAction& operator= ( const WsgAction )
default
WsgAction& operator= ( WsgAction &&  )
default

The documentation for this class was generated from the following files: