crcl.base

Class ThreeFingerGripperStatusType

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}double" minOccurs="0"/>
         <element name="Finger2Force" type="{http://www.w3.org/2001/XMLSchema}double" minOccurs="0"/>
         <element name="Finger3Force" type="{http://www.w3.org/2001/XMLSchema}double" minOccurs="0"/>
       </sequence>
     </extension>
   </complexContent>
 </complexType>
 

Field Summary

Fields

Modifier and Type	Field and Description
protected Double	finger1Force
protected Double	finger1Position
protected Double	finger2Force
protected Double	finger2Position
protected Double	finger3Force
protected Double	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()

Method Summary

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

finger2Position

protected Double finger2Position

finger3Position

protected Double finger3Position

finger1Force

protected Double finger1Force

finger2Force

protected Double finger2Force

finger3Force

protected Double finger3Force

Constructor Detail

ThreeFingerGripperStatusType

public ThreeFingerGripperStatusType()

Method Detail

getFinger1Position

public Double getFinger1Position()

Gets the value of the finger1Position property.

Returns:

possible object is Double

setFinger1Position

public void setFinger1Position(Double value)

Sets the value of the finger1Position property.

Parameters:

value - allowed object is Double

getFinger2Position

public Double getFinger2Position()

Gets the value of the finger2Position property.

Returns:

possible object is Double

setFinger2Position

public void setFinger2Position(Double value)

Sets the value of the finger2Position property.

Parameters:

value - allowed object is Double

getFinger3Position

public Double getFinger3Position()

Gets the value of the finger3Position property.

Returns:

possible object is Double

setFinger3Position

public void setFinger3Position(Double value)

Sets the value of the finger3Position property.

Parameters:

value - allowed object is Double

getFinger1Force

public Double getFinger1Force()

Gets the value of the finger1Force property.

Returns:

possible object is Double

setFinger1Force

public void setFinger1Force(Double value)

Sets the value of the finger1Force property.

Parameters:

value - allowed object is Double

getFinger2Force

public Double getFinger2Force()

Gets the value of the finger2Force property.

Returns:

possible object is Double

setFinger2Force

public void setFinger2Force(Double value)

Sets the value of the finger2Force property.

Parameters:

value - allowed object is Double

getFinger3Force

public Double getFinger3Force()

Gets the value of the finger3Force property.

Returns:

possible object is Double

setFinger3Force

public void setFinger3Force(Double value)

Sets the value of the finger3Force property.

Parameters:

value - allowed object is Double