30 lines
718 B
C
30 lines
718 B
C
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//
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// Created by xtkuang on 2025/5/8.
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//
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#ifndef CMVR_ES_ABSTRACT_GRIPPER_H
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#define CMVR_ES_ABSTRACT_GRIPPER_H
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#pragma once
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#include "abstract_device.h"
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namespace cmvr::device{
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class AbstractGripper: public AbstractDevice {
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public:
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explicit AbstractGripper(const XmlNode &cfg): AbstractDevice(cfg) {}
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~AbstractGripper() override = default;
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virtual void getState(GripperState &state) {}
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virtual void openGripper(float vel) {}
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virtual void closeGripper(float vel) {}
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virtual void setPosition(float position, float vel) {}
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virtual void setForce(float value) {}
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protected:
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GripperState state_;
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};
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}
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#endif //CMVR_ES_ABSTRACT_GRIPPER_H
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