Gripper.hh

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/*
 * Copyright 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef _GRIPPER_HH_
#define _GRIPPER_HH_

#include <map>
#include <vector>
#include <string>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/physics/PhysicsTypes.hh"

namespace gazebo
{
  namespace physics
  {

    class Gripper
    {
      public: explicit Gripper(ModelPtr _model);

      public: virtual ~Gripper();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: virtual void Init();

      public: std::string GetName() const;

      public: bool IsAttached() const;

      private: void OnUpdate();

      private: void OnContacts(ConstContactsPtr &_msg);

      private: void HandleAttach();

      private: void HandleDetach();

      private: void ResetDiffs();

      private: physics::ModelPtr model;

      private: physics::PhysicsEnginePtr physics;

      private: physics::WorldPtr world;

      private: physics::JointPtr fixedJoint;

      private: physics::LinkPtr palmLink;

      private: std::vector<event::ConnectionPtr> connections;

      private: std::map<std::string, physics::CollisionPtr> collisions;

      private: std::vector<msgs::Contact> contacts;

      private: bool attached;

      private: math::Pose prevDiff;

      private: std::vector<double> diffs;

      private: int diffIndex;

      private: common::Time updateRate;

      private: common::Time prevUpdateTime;

      private: int posCount;

      private: int zeroCount;

      private: unsigned int minContactCount;

      private: int attachSteps;

      private: int detachSteps;

      private: std::string name;

      protected: transport::NodePtr node;

      private: transport::SubscriberPtr contactSub;
    };
  }
}
#endif