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The GripperActuator class provides an abstract interface to the hardware of a robot that can grip things.
Copyright (c)1997, 1998 Tucker Balch
Method Summary | |
int |
getObjectInGripper(long timestamp)
Get the kind of object in the gripper. |
void |
setGripperFingers(long timestamp,
double position)
Set the gripper "finger" position from 0 to 1, with 0 being closed and 1 being open. |
void |
setGripperHeight(long timestamp,
double position)
Set the gripper height from 0 to 1, with 0 being down and 1 being up. |
Method Detail |
public int getObjectInGripper(long timestamp)
timestamp
- only get new information
if timestamp > than last call or timestamp == -1.public void setGripperFingers(long timestamp, double position)
position
- the desired position from 0 to 1.public void setGripperHeight(long timestamp, double position)
position
- the desired position from 0 to 1.
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