The Gripper is a full Gripper controll. More...

Inheritance diagram for realvirtual.Gripper:

Public Member Functions
void	GripperClose ()

void	Stop ()

void	GripperOpen ()

Public Member Functions inherited from realvirtual.BehaviorInterface
new List< BehaviorInterfaceConnection >	GetConnections ()

new List< Signal >	GetSignals ()

Public Member Functions inherited from realvirtual.realvirtualBehavior
void	SetForceStop (bool forcestop)

Vector3	DirectionToVector (DIRECTION direction)
	Transfers the direction enumeration to a vector.

DIRECTION	VectorToDirection (bool torotatoin, Vector3 vector)
	Transfers a vector to the direction enumeration.

float	GetLocalScale (Transform thetransform, DIRECTION direction)

List< BehaviorInterfaceConnection >	UpdateConnectionInfo ()

List< Signal >	GetConnectedSignals ()

void	SetVisibility (bool visibility)
	Sets the visibility of this object including all subobjects.

List< BehaviorInterfaceConnection >	GetConnections ()

List< Signal >	GetSignals ()

GameObject	GetChildByName (string name)
	Gets a child by name.

List< GameObject >	GetChildsByName (string name)
	Gets all child by name.

GameObject	GetChildByNameAlsoHidden (string name)

List< GameObject >	GetAllMeshesWithGroup (string group)

List< GameObject >	GetAllWithGroup (string group)

List< GameObject >	GetAllWithGroups (List< string > groups)

List< GameObject >	GetAllMeshesWithGroups (List< string > groups)

List< string >	GetMyGroups ()

List< GameObject >	GetMeshesWithSameGroups ()

List< GameObject >	GetAllWithSameGroups ()

MeshRenderer	GetMeshRenderer ()
	Gets the mesh renderers in the childrens.

void	SetCollider (bool enabled)
	sets the collider in all child objects

void	ErrorMessage (string message)
	Displays an error message.

void	ChangeConnectionMode (bool isconnected)

void	Log (string message)
	Logs a message.

void	Log (string message, object obj)
	Logs a message with a relation to an object.

void	Warning (string message, object obj)
	Logs a warinng with a relation to an object.

void	Error (string message, object obj)
	Logs an error with a relation to an object.

void	Error (string message)
	Logs an error.

GameObject	DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale)
	Displays a gizmo for debugging positions.

void	SetFreezePosition (bool enabled)
	Freezes all child components to the current poosition.

virtual void	AwakeAlsoDeactivated ()

List< BehaviorInterfaceConnection >	GetConnections ()

List< Signal >	GetSignals ()

Public Attributes
GameObject	LeftFinger

GameObject	RightFinger

float	TimeOpening

float	TimeClosing

float	GripperWidth

float	OpenPosOffset

Vector3	DirectionFinger = new Vector3(1, 0, 0)

Vector3	DirectionClosing = new Vector3(1, 0, 0)

bool	FullyClosed

bool	Close

bool	Closing

bool	FullyOpened

bool	Open

bool	Opening

bool	MUIsGripped

MU	GrippedMU

PLCOutputBool	CloseGripper

PLCOutputBool	OpenGripper

PLCInputBool	IsClosing

PLCInputBool	IsOpening

PLCInputBool	IsFullyOpened

PLCInputBool	IsFullyClosed

bool	usefingers

Public Attributes inherited from realvirtual.BehaviorInterface
List< BehaviorInterfaceConnection >	ConnectionInfo = new List<BehaviorInterfaceConnection>()

Public Attributes inherited from realvirtual.realvirtualBehavior
string	Name
	The name of the component if it should be different from the GameObject name.

ActiveOnly	Active

GameObject	FromTemplate

realvirtualController	realvirtualController

bool	HideNonG44Components

bool	SceneIsAdditive

bool	ForceStop = false

Additional Inherited Members
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly

Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool	DirectionIsLinear (DIRECTION direction)
	Gets back if the direction is linear or a rotation.

Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool	hidename ()

bool	hideactiveonly ()

virtual void	OnStop ()

virtual void	OnStart ()

MU	GetTopOfMu (GameObject obj)
	Gets the top of an MU component (the first MU script going up in the hierarchy)

void	InitGame4Automation ()
	Initialiates the components and gets the reference to the realvirtualController in the scene.

virtual void	AfterAwake ()

void	Awake ()

Properties inherited from realvirtual.ISignalInterface
GameObject	gameObject `[get]`

Detailed Description

Movements of fingers, Gripping and connection to PLCSignals is included. It is a more "all in on" Gripping function instead of moving the Fingers with Drives and defining manually Grip and needed Sensors. The fingers are stopping automaticlly closing as soon as the MU is touched. Detection of MU and close position is done with a RayCast Sensor

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description