ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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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