Robot Simulator of the Robotics Group for Self-Organization of Control: GripperConf Struct Reference

# GripperConf Struct Reference

Configure object for Gripper. More...

`#include <gripper.h>`

Collaboration diagram for GripperConf:
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List of all members.

## Public Attributes
std::string | name
| name of gripper for configuration
double | gripDuration
| time in seconds for how long the gripper grasps
double | releaseDuration
| releaseDuration time in seconds for how long the gripper cannot grasp after release
Color | color
double | size
| diameter of the drawn sphere (if 0 nothing is drawn)
bool | drawAtContactPoint
| sphere is drawn at contact point (true) or at center of attached primitive (false)
bool | forbitLastPrimitive
| if true the last grasped object cannot be directly grasped again
bool | fixedOrBallJoint
| use fixed joint (true) or ball joint (false)

## Detailed Description

Configure object for Gripper.

## Member Data Documentation

Color color

bool drawAtContactPoint

sphere is drawn at contact point (true) or at center of attached primitive (false)

bool fixedOrBallJoint

use fixed joint (true) or ball joint (false)

bool forbitLastPrimitive

if true the last grasped object cannot be directly grasped again

double gripDuration

time in seconds for how long the gripper grasps

std::string name

name of gripper for configuration

double releaseDuration

releaseDuration time in seconds for how long the gripper cannot grasp after release

double size

diameter of the drawn sphere (if 0 nothing is drawn)

The documentation for this struct was generated from the following file:

- gripper.h