Public Attributes
double	_restingTime

double	_simTime

double	_graspTime

double	_approachedTime

StepState	_currentState

rw::kinematics::State	_state

rw::common::Timer	_wallTimer

rwlibs::task::GraspSubTask *	_task

rwlibs::task::GraspTarget *	_target

rw::kinematics::State	_postLiftObjState

std::vector< rw::core::Ptr< rwsim::sensor::BodyContactSensor > >	_bsensors

int	_restCount

rw::kinematics::Frame *	_taskRefFrame

rw::math::Transform3D	_taskOffset

rw::math::Transform3D	_approach

rw::math::Transform3D	_retract

rw::math::Q	_openQ

rw::math::Q	_closeQ

rw::math::Q	_tauMax

rw::math::Transform3D	_wTtcp_initTarget

rw::math::Transform3D	_wTmbase_initTarget

rw::math::Transform3D	_wTmbase_approachTarget

rw::math::Transform3D	_wTmbase_retractTarget

bool	_stopped

rwlibs::control::JointController *	_graspController

The documentation for this struct was generated from the following file:

Public Attributes