ARGoS  3
A parallel, multi-engine simulator for swarm robotics
plugins/robots/generic/control_interface/ci_gripper_actuator.h
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00001 
00007 #ifndef CCI_GRIPPER_ACTUATOR_H
00008 #define CCI_GRIPPER_ACTUATOR_H
00009 
00010 namespace argos {
00011    class CCI_GripperActuator;
00012 }
00013 
00014 #include <argos3/core/control_interface/ci_actuator.h>
00015 
00016 namespace argos {
00017 
00018    class CCI_GripperActuator : public CCI_Actuator {
00019 
00020    public:
00021 
00025       CCI_GripperActuator();
00026 
00030       virtual ~CCI_GripperActuator() {}
00031 
00038       void SetLockState(Real f_lock_state);
00039 
00045       inline void Lock() {
00046          SetLockState(1.0f);
00047       }
00048 
00054       inline void Unlock() {
00055          SetLockState(0.0f);
00056       }
00057 
00058 #ifdef ARGOS_WITH_LUA
00059       virtual void CreateLuaState(lua_State* pt_lua_state);
00060 #endif
00061 
00062    protected:
00063 
00064       Real m_fLockState;
00065 
00066    };
00067 
00068 }
00069 
00070 #endif