RobotFlow: Pioneer2/include/Pioneer2GripperState.h Source File

00001 /* Copyright (C) 2002 Etienne Rohichaud
00002 
00003    This library is free software; you can redistribute it and/or
00004    modify it under the terms of the GNU Lesser General Public
00005    License as published by the Free Software Foundation; either
00006    version 2.1 of the License, or (at your option) any later version.
00007    
00008    This library is distributed in the hope that it will be useful,
00009    but WITHOUT ANY WARRANTY; without even the implied warranty of
00010    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00011    Lesser General Public License for more details.
00012    
00013    You should have received a copy of the GNU Lesser General Public
00014    License along with this library; if not, write to the Free Software
00015    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00016 */
00017 #ifndef _PIONEER2GRIPPERSTATE_H_
00018 #define _PIONEER2GRIPPERSTATE_H_
00019 
00020 #include "Object.h"
00021 
00022 namespace RobotFlow {
00023         
00024 class TP2GripperState : public FD::Object
00025 {
00026  public:
00027   TP2GripperState( ) {} //default constructor
00028 
00029     //overload Object::printOn()
00030     virtual void printOn( std::ostream &out = std::cout ) const
00031     {
00032       out << "<TP2GripperState " << std::endl
00033           << "<LIFT_FULLY_UP_OR_DOWN " << m_bLiftFullyUpOrDown << ">" << std::endl
00034           << "<LIFT_MOVING " << m_bLiftMoving << ">" << std::endl
00035           << "<PADDLES_COMPLETELY_OPENED " << m_bPaddlesCompletelyOpened << ">" << std::endl
00036           << "<PADDLES_MOVING " << m_bPaddlesMoving << ">" << std::endl
00037           << "<RIGHT_PADDLE_PUSHED " << m_bRightPaddlePushed << ">" << std::endl
00038           << "<LEFT_PADDLE_PUSHED " << m_bLeftPaddlePushed << ">" << std::endl
00039           << "<INNER_BREAKBEAM_CUT " << m_bInnerBreakbeamCut << ">" << std::endl
00040           << "<OUTER_BREAKBEAM_CUT " << m_bOuterBreakbeamCut << ">" << " >" << std::endl;
00041     }
00042 
00043     //member variables
00044     bool m_bLiftFullyUpOrDown;
00045     bool m_bLiftMoving;
00046     bool m_bPaddlesCompletelyOpened;
00047     bool m_bPaddlesMoving;
00048     bool m_bRightPaddlePushed;
00049     bool m_bLeftPaddlePushed;
00050     bool m_bInnerBreakbeamCut;
00051     bool m_bOuterBreakbeamCut;
00052 
00053   private:
00054     TP2GripperState( TP2GripperState const &ac_rtGripState );   //disables the use of the copy constructor
00055   };
00056 
00057 }//namespace RobotFlow
00058 #endif