ci_footbot_gripper_actuator.h

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#ifndef CCI_FOOTBOT_GRIPPER_ACTUATOR_H
#define CCI_FOOTBOT_GRIPPER_ACTUATOR_H
 
/* To avoid dependency problems when including */
namespace argos {
   class CCI_FootBotGripperActuator;
}
 
#include <argos3/core/control_interface/ci_actuator.h>
#include <argos3/core/utility/math/angles.h>
 
namespace argos {
 
   class CCI_FootBotGripperActuator : virtual public CCI_Actuator {
 
   public:
 
      /* Useful gripper aperture values */
      static CRadians UNLOCKED;
      static CRadians LOCKED_POSITIVE;
      static CRadians LOCKED_NEGATIVE;
 
   public:
 
      CCI_FootBotGripperActuator();
 
      virtual ~CCI_FootBotGripperActuator() {}
 
      void SetAperture(const CRadians& c_aperture);
 
      virtual void EnableCheckForObjectGrippedRoutine() = 0;
 
      virtual void DisableCheckForObjectGrippedRoutine() = 0;
 
      void LockPositive();
 
      void LockNegative();
 
      void Unlock();
 
#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State* pt_lua_state);
#endif
 
   protected:
 
      CRadians m_cAperture;
 
   };
 
}
 
#endif