Package edu.tufts.hrilab.diarcros.kortex

Class GripperControllerGripperActionNode

java.lang.Object

edu.tufts.hrilab.diarcros.kortex.GripperControllerGripperActionNode

public class GripperControllerGripperActionNode
extends Object

Method Summary

Modifier and Type	Method	Description
void	cancelAllGoals()
void	cancelGoal()
void	cancelGoalsAtAndBeforeTime(edu.tufts.hrilab.diarcros.msg.Time time)
static GripperControllerGripperActionNode	getInstance(String namespace, Map<String,String> remappings)	Singleton accessor method.
control_msgs.GripperCommandResult	getResult()
org.ros.actionlib.state.SimpleClientGoalState	getState()
void	sendGoal(edu.tufts.hrilab.diarcros.msg.control_msgs.GripperCommandGoal goal)
void	waitForNode()
void	waitForResult()
boolean	waitForResult(long timeout, TimeUnit units)
void	waitForServer()
boolean	waitForServer(long timeout, TimeUnit units)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

getInstance

public static GripperControllerGripperActionNode getInstance(String namespace,
 Map<String,String> remappings)

Singleton accessor method. Thread-safe. TODO: generalize this class to remove robotiq_2f_85 specific names. TODO: allow the getInstance method to return different instances that have different namespace or remappings. i.e., no longer an instance, but a factory method that manages existing instances and checks for matching namespace and remappings.

Returns:

waitForNode

public void waitForNode()

cancelAllGoals

public void cancelAllGoals()

cancelGoal

public void cancelGoal()
                throws org.ros.exception.RosException

Throws:

org.ros.exception.RosException

cancelGoalsAtAndBeforeTime

public void cancelGoalsAtAndBeforeTime(edu.tufts.hrilab.diarcros.msg.Time time)

getResult

public control_msgs.GripperCommandResult getResult()
                                            throws org.ros.exception.RosException

Throws:

org.ros.exception.RosException

getState

public org.ros.actionlib.state.SimpleClientGoalState getState()

sendGoal

public void sendGoal(edu.tufts.hrilab.diarcros.msg.control_msgs.GripperCommandGoal goal)
              throws org.ros.exception.RosException

Throws:

org.ros.exception.RosException

waitForResult

public void waitForResult()
                   throws InterruptedException

Throws:

InterruptedException

waitForResult

public boolean waitForResult(long timeout,
 TimeUnit units)
                      throws InterruptedException

Throws:

InterruptedException

waitForServer

public void waitForServer()
                   throws InterruptedException

Throws:

InterruptedException

waitForServer

public boolean waitForServer(long timeout,
 TimeUnit units)
                      throws InterruptedException

Throws:

InterruptedException