fake

Documentation

Overview

Package fake implements a fake gripper.

Index

• type Config
• type Gripper
  • func (g *Gripper) Grab(ctx context.Context, extra map[string]interface{}) (bool, error)
  • func (g *Gripper) IsMoving(ctx context.Context) (bool, error)
  • func (g *Gripper) ModelFrame() referenceframe.Model
  • func (g *Gripper) Open(ctx context.Context, extra map[string]interface{}) error
  • func (g *Gripper) Stop(ctx context.Context, extra map[string]interface{}) error

Types

type Config

type Config struct {
	resource.TriviallyValidateConfig
}

Config is the config for a trossen gripper.

type Gripper

type Gripper struct {
	resource.Named
	resource.TriviallyReconfigurable
	resource.TriviallyCloseable
}

Gripper is a fake gripper that can simply read and set properties.

func (*Gripper) Grab

func (g *Gripper) Grab(ctx context.Context, extra map[string]interface{}) (bool, error)

Grab does nothing.

func (*Gripper) IsMoving

func (g *Gripper) IsMoving(ctx context.Context) (bool, error)

IsMoving is always false for a fake gripper.

func (*Gripper) ModelFrame

func (g *Gripper) ModelFrame() referenceframe.Model

ModelFrame returns the dynamic frame of the model.

func (*Gripper) Open

func (g *Gripper) Open(ctx context.Context, extra map[string]interface{}) error

Open does nothing.

func (*Gripper) Stop

func (g *Gripper) Stop(ctx context.Context, extra map[string]interface{}) error

Stop doesn't do anything for a fake gripper.