HandEyeGripper.h

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#ifndef INCLUDED_HandEyeGripper_h
#define INCLUDED_HandEyeGripper_h

#include <math.h>

#include "Shared/WorldState.h"

class HandEyeGripper {
  public:
  void OpenClose(int OriJoint, float gripperValue, float *gripperServo) {
#ifdef TGT_HAS_ARMS
    float negscale = -1;
    float posscale = -1;
    unsigned int fingerOffset = 1;
#ifdef TGT_HANDEYEZ
    negscale = -0.5f;
    posscale = -0.5f;
#endif    
    
    for(unsigned int counter = ArmOffset + OriJoint + fingerOffset; counter < ArmOffset + NumArmJoints; counter++) {
      if (gripperValue < 0) {
        gripperServo[counter] = (gripperValue+1)/2 * negscale;
      }
      else {
        gripperServo[counter] = (gripperValue+1)/2 * posscale;
      }
    }
#endif
  }
};

#endif