mavsdk::Gripper Class Reference

#include: gripper.h

---

Allows users to send gripper actions.

Public Types

Type	Description
enum GripperAction	Gripper Actions.
enum Result	Possible results returned for gripper action requests.
std::function< void(Result)> ResultCallback	Callback type for asynchronous Gripper calls.

Public Member Functions

Type	Name	Description
	Gripper (System & system)	Constructor. Creates the plugin for a specific System.
	Gripper (std::shared_ptr< System > system)	Constructor. Creates the plugin for a specific System.
	~Gripper () override	Destructor (internal use only).
	Gripper (const Gripper & other)	Copy constructor.
void	grab_async (uint32_t instance, const ResultCallback callback)	Gripper grab cargo.
Result	grab (uint32_t instance)const	Gripper grab cargo.
void	release_async (uint32_t instance, const ResultCallback callback)	Gripper release cargo.
Result	release (uint32_t instance)const	Gripper release cargo.
const Gripper &	operator= (const Gripper &)=delete	Equality operator (object is not copyable).

Constructor & Destructor Documentation

Gripper()

mavsdk::Gripper::Gripper(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto gripper = Gripper(system);

Parameters

• System& system - The specific system associated with this plugin.

Gripper()

mavsdk::Gripper::Gripper(std::shared_ptr< System > system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto gripper = Gripper(system);

Parameters

• std::shared_ptr< System > system - The specific system associated with this plugin.

~Gripper()

mavsdk::Gripper::~Gripper() override

Destructor (internal use only).

Gripper()

mavsdk::Gripper::Gripper(const Gripper &other)

Copy constructor.

Parameters

• const Gripper& other -

Member Typdef Documentation

typedef ResultCallback

using mavsdk::Gripper::ResultCallback =  std::function<void(Result)>

Callback type for asynchronous Gripper calls.

Member Enumeration Documentation

enum GripperAction

Gripper Actions.

Available gripper actions are defined in mavlink under https://mavlink.io/en/messages/common.html#GRIPPER_ACTIONS

Value	Description
Release	Open the gripper to release the cargo.
Grab	Close the gripper and grab onto cargo.

enum Result

Possible results returned for gripper action requests.

Value	Description
Unknown	Unknown result.
Success	Request was successful.
NoSystem	No system is connected.
Busy	Temporarily rejected.
Timeout	Request timed out.
Unsupported	Action not supported.
Failed	Action failed.

Member Function Documentation

grab_async()

void mavsdk::Gripper::grab_async(uint32_t instance, const ResultCallback callback)

Gripper grab cargo.

This function is non-blocking. See 'grab' for the blocking counterpart.

Parameters

• uint32_t instance -
• const ResultCallback callback -

grab()

Result mavsdk::Gripper::grab(uint32_t instance) const

Gripper grab cargo.

This function is blocking. See 'grab_async' for the non-blocking counterpart.

Parameters

• uint32_t instance -

Returns

 Result - Result of request.

release_async()

void mavsdk::Gripper::release_async(uint32_t instance, const ResultCallback callback)

Gripper release cargo.

This function is non-blocking. See 'release' for the blocking counterpart.

Parameters

• uint32_t instance -
• const ResultCallback callback -

release()

Result mavsdk::Gripper::release(uint32_t instance) const

Gripper release cargo.

This function is blocking. See 'release_async' for the non-blocking counterpart.

Parameters

• uint32_t instance -

Returns

 Result - Result of request.

operator=()

const Gripper& mavsdk::Gripper::operator=(const Gripper &)=delete

Equality operator (object is not copyable).

Parameters

• const Gripper& -

Returns

 const Gripper & -