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realvirtual.Gripper Class Reference

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

Inheritance diagram for realvirtual.Gripper:
realvirtual.BehaviorInterface realvirtual.realvirtualBehavior realvirtual.ISignalInterface

Public Member Functions

void GripperClose ()
void Stop ()
void GripperOpen ()
- Public Member Functions inherited from realvirtual.BehaviorInterface
new List< BehaviorInterfaceConnectionGetConnections ()
new List< SignalGetSignals ()
- 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< BehaviorInterfaceConnectionUpdateConnectionInfo ()
List< SignalGetConnectedSignals ()
void SetVisibility (bool visibility)
 Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnectionGetConnections ()
List< SignalGetSignals ()
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< BehaviorInterfaceConnectionGetConnections ()
List< SignalGetSignals ()

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< BehaviorInterfaceConnectionConnectionInfo = 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