ThreeFingerGripperStatusType (crcl4java-base 1.3 API)

java.lang.Object
- crcl.base.DataThingType
- - crcl.base.GripperStatusType
  - - crcl.base.ThreeFingerGripperStatusType

```
public class ThreeFingerGripperStatusType
extends GripperStatusType
```
ThreeFingerGripperStatusType is derived from GripperStatusType. An instance of ThreeFingerGripperStatusType has the following elements: Name (inherited, optional) GripperName (inherited) Finger1Position (optional) Finger2Position (optional) Finger3Position (optional) Finger1Force (optional) Finger2Force (optional) Finger3Force (optional). ThreeFingerGripperStatusType gives gripper status for a three finger gripper. The fingers are assumed to be non-articulated. Finger position is 0.0 at fully closed and 1.0 at fully open and linear in either angle or distance for rotating fingers or sliding fingers, respectively. All elements are optional, but typically all three positions will be used if any one of them is used, and similarly for the three forces. Force units are as set by the most recent SetForceUnits command. The system sending CRCL commands and the system executing them must agree on which fingers are Finger1, Finger2,and Finger3.
Java class for ThreeFingerGripperStatusType complex type.
The following schema fragment specifies the expected content contained within this class.
```
 <complexType name="ThreeFingerGripperStatusType">
   <complexContent>
     <extension base="{}GripperStatusType">
       <sequence>
         <element name="Finger1Position" type="{}FractionType" minOccurs="0"/>
         <element name="Finger2Position" type="{}FractionType" minOccurs="0"/>
         <element name="Finger3Position" type="{}FractionType" minOccurs="0"/>
         <element name="Finger1Force" type="{http://www.w3.org/2001/XMLSchema}decimal" minOccurs="0"/>
         <element name="Finger2Force" type="{http://www.w3.org/2001/XMLSchema}decimal" minOccurs="0"/>
         <element name="Finger3Force" type="{http://www.w3.org/2001/XMLSchema}decimal" minOccurs="0"/>
       </sequence>
     </extension>
   </complexContent>
 </complexType>
 
```

Field Summary

Fields
Modifier and Type	Field and Description
`protected BigDecimal`	`finger1Force`
`protected BigDecimal`	`finger1Position`
`protected BigDecimal`	`finger2Force`
`protected BigDecimal`	`finger2Position`
`protected BigDecimal`	`finger3Force`
`protected BigDecimal`	`finger3Position`

Fields inherited from class crcl.base.GripperStatusType
gripperName, holdingObject

Fields inherited from class crcl.base.DataThingType
name

Constructor Summary

Constructors
Constructor and Description

ThreeFingerGripperStatusType()

Constructors
Constructor and Description
`ThreeFingerGripperStatusType()`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`BigDecimal`	`getFinger1Force()` Gets the value of the finger1Force property.
`BigDecimal`	`getFinger1Position()` Gets the value of the finger1Position property.
`BigDecimal`	`getFinger2Force()` Gets the value of the finger2Force property.
`BigDecimal`	`getFinger2Position()` Gets the value of the finger2Position property.
`BigDecimal`	`getFinger3Force()` Gets the value of the finger3Force property.
`BigDecimal`	`getFinger3Position()` Gets the value of the finger3Position property.
`void`	`setFinger1Force(BigDecimal value)` Sets the value of the finger1Force property.
`void`	`setFinger1Position(BigDecimal value)` Sets the value of the finger1Position property.
`void`	`setFinger2Force(BigDecimal value)` Sets the value of the finger2Force property.
`void`	`setFinger2Position(BigDecimal value)` Sets the value of the finger2Position property.
`void`	`setFinger3Force(BigDecimal value)` Sets the value of the finger3Force property.
`void`	`setFinger3Position(BigDecimal value)` Sets the value of the finger3Position property.

Methods inherited from class crcl.base.GripperStatusType
getGripperName, isHoldingObject, setGripperName, setHoldingObject

Methods inherited from class crcl.base.DataThingType
getName, setName

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - finger1Position
```
protected BigDecimal finger1Position
```
  - finger2Position
```
protected BigDecimal finger2Position
```
  - finger3Position
```
protected BigDecimal finger3Position
```
  - finger1Force
```
protected BigDecimal finger1Force
```
  - finger2Force
```
protected BigDecimal finger2Force
```
  - finger3Force
```
protected BigDecimal finger3Force
```
- Constructor Detail
  - ThreeFingerGripperStatusType
```
public ThreeFingerGripperStatusType()
```
- Method Detail
  - getFinger1Position
```
public BigDecimal getFinger1Position()
```
    Gets the value of the finger1Position property.
    
    Returns:
    
    possible object is BigDecimal
  - setFinger1Position
```
public void setFinger1Position(BigDecimal value)
```
    Sets the value of the finger1Position property.
    
    Parameters:
    
    value - allowed object is BigDecimal
  - getFinger2Position
```
public BigDecimal getFinger2Position()
```
    Gets the value of the finger2Position property.
    
    Returns:
    
    possible object is BigDecimal
  - setFinger2Position
```
public void setFinger2Position(BigDecimal value)
```
    Sets the value of the finger2Position property.
    
    Parameters:
    
    value - allowed object is BigDecimal
  - getFinger3Position
```
public BigDecimal getFinger3Position()
```
    Gets the value of the finger3Position property.
    
    Returns:
    
    possible object is BigDecimal
  - setFinger3Position
```
public void setFinger3Position(BigDecimal value)
```
    Sets the value of the finger3Position property.
    
    Parameters:
    
    value - allowed object is BigDecimal
  - getFinger1Force
```
public BigDecimal getFinger1Force()
```
    Gets the value of the finger1Force property.
    
    Returns:
    
    possible object is BigDecimal
  - setFinger1Force
```
public void setFinger1Force(BigDecimal value)
```
    Sets the value of the finger1Force property.
    
    Parameters:
    
    value - allowed object is BigDecimal
  - getFinger2Force
```
public BigDecimal getFinger2Force()
```
    Gets the value of the finger2Force property.
    
    Returns:
    
    possible object is BigDecimal
  - setFinger2Force
```
public void setFinger2Force(BigDecimal value)
```
    Sets the value of the finger2Force property.
    
    Parameters:
    
    value - allowed object is BigDecimal
  - getFinger3Force
```
public BigDecimal getFinger3Force()
```
    Gets the value of the finger3Force property.
    
    Returns:
    
    possible object is BigDecimal
  - setFinger3Force
```
public void setFinger3Force(BigDecimal value)
```
    Sets the value of the finger3Force property.
    
    Parameters:
    
    value - allowed object is BigDecimal

Class ThreeFingerGripperStatusType

Field Summary

Fields inherited from class crcl.base.GripperStatusType

Fields inherited from class crcl.base.DataThingType

Constructor Summary

Method Summary

Methods inherited from class crcl.base.GripperStatusType

Methods inherited from class crcl.base.DataThingType

Methods inherited from class java.lang.Object

Field Detail

finger1Position

finger2Position

finger3Position

finger1Force

finger2Force

finger3Force

Constructor Detail

ThreeFingerGripperStatusType

Method Detail

getFinger1Position

setFinger1Position

getFinger2Position

setFinger2Position

getFinger3Position

setFinger3Position

getFinger1Force

setFinger1Force

getFinger2Force

setFinger2Force

getFinger3Force

setFinger3Force