gripper.hh

 
#pragma once
 
#include <memory>
#include <string>
 
namespace lebai {
namespace l_master {
 
class Gripper {
 public:
  class GripperImpl;
 
  explicit Gripper(const std::string& port_name);
  virtual ~Gripper();
  void set_position(unsigned int position);
  unsigned int get_current_position() const;
  void set_force(unsigned int force);
  unsigned int get_current_force() const;
  void set_velocity(unsigned int velocity, bool persistent);
  unsigned int get_current_velocity(bool persistent) const;
  void do_calibration();
  bool is_calibrated() const;
  void turn_on_auto_calibration();
  void turn_off_auto_calibration();
 
 protected:
  std::unique_ptr<GripperImpl> impl_; 
};
 
}  // namespace l_master
 
}  // namespace lebai