fake

Documentation

Overview

Package fake implements a fake gripper.

Index

• type AttrConfig
  • func (config *AttrConfig) Validate(path string) error
• 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 AttrConfig

type AttrConfig struct{}

AttrConfig is the config for a trossen gripper.

func (*AttrConfig) Validate

func (config *AttrConfig) Validate(path string) error

Validate ensures all parts of the config are valid.

type Gripper

type Gripper struct {
	generic.Echo
	Name string
	// contains filtered or unexported fields
}

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.