//
// Created by xtkuang on 2025/5/8.
//

#ifndef CMVR_ES_ABSTRACT_GRIPPER_H
#define CMVR_ES_ABSTRACT_GRIPPER_H
#pragma once

#include "abstract_device.h"

namespace cmvr::device{

    class AbstractGripper: public AbstractDevice {
    public:
        explicit AbstractGripper(const XmlNode &cfg): AbstractDevice(cfg) {}
        ~AbstractGripper() override = default;

        virtual void getState(GripperState &state) {}

        virtual void openGripper(float vel) {}
        virtual void closeGripper(float vel) {}
        virtual void setPosition(float position, float vel) {}
        virtual void setForce(float value) {}

    protected:
        GripperState state_;
    };
}

#endif //CMVR_ES_ABSTRACT_GRIPPER_H