Gripper.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GAZEBO_PHYSICS_GRIPPER_HH_
18 #define GAZEBO_PHYSICS_GRIPPER_HH_
19 
20 #include <string>
21 
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace physics
27  {
28  // Forward declare private data class
29  class GripperPrivate;
30 
33 
41  class GZ_PHYSICS_VISIBLE Gripper
42  {
45  public: explicit Gripper(ModelPtr _model);
46 
48  public: virtual ~Gripper();
49 
53  public: virtual void Load(sdf::ElementPtr _sdf);
54 
56  public: virtual void Init();
57 
60  public: std::string GetName() const GAZEBO_DEPRECATED(8.0);
61 
64  public: std::string Name() const;
65 
69  public: bool IsAttached() const;
70 
73  private: std::unique_ptr<GripperPrivate> dataPtr;
74  };
76  }
77 }
78 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
A gripper abstraction.
Definition: Gripper.hh:41
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:302
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.