franky::Gripper Class Reference

A wrapper around the franka::Gripper class that adds asynchronous functionality. More...

#include <gripper.hpp>

Inheritance diagram for franky::Gripper:

Public Member Functions
	Gripper (const std::string &franka_address)
	Gripper (Gripper &&gripper) noexcept
std::shared_future< bool >	graspAsync (double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005)
	Asynchronous variant of the franka::Gripper::grasp function.
std::shared_future< bool >	moveAsync (double width, double speed)
	Asynchronous variant of the franka::Gripper::move function.
bool	open (double speed)
	Opens the gripper fully.
std::shared_future< bool >	openAsync (double speed)
	Asynchronous variant of the open function.
std::shared_future< bool >	homingAsync ()
	Asynchronous variant of the franka::Gripper::homing function.
std::shared_future< bool >	stopAsync ()
	Asynchronous variant of the franka::Gripper::stop function.
double	width () const
	Current opening width of the gripper [m].
bool	is_grasped () const
	Whether the gripper is grasping.
double	max_width () const
	Maximum width of the gripper [m].
franka::GripperState	state () const
	Current gripper state.

Detailed Description

A wrapper around the franka::Gripper class that adds asynchronous functionality.

Constructor & Destructor Documentation

Gripper() [1/2]

franky::Gripper::Gripper ( const std::string &  franka_address )

inlineexplicit

Gripper() [2/2]

franky::Gripper::Gripper ( Gripper &&  gripper )

inlinenoexcept

Member Function Documentation

graspAsync()

std::shared_future< bool > franky::Gripper::graspAsync	(	double	width,
		double	speed,
		double	force,
		double	epsilon_inner = 0.005,
		double	epsilon_outer = 0.005
	)

Asynchronous variant of the franka::Gripper::grasp function.

Parameters

width	Size of the object to grasp in [m].
speed	Closing speed in [m/s].
force	Grasping force in [N].
epsilon_inner	Maximum tolerated deviation when the actual grasped width is smaller than the commanded grasp width.
epsilon_outer	Maximum tolerated deviation when the actual grasped width is larger than the commanded grasp width.

Returns

Future that becomes ready when the grasp is finished. Contains true if an object has been grasped, false otherwise.

homingAsync()

std::shared_future< bool > franky::Gripper::homingAsync

(

)

Asynchronous variant of the franka::Gripper::homing function.

Returns

A future that becomes ready when the homing is finished. Contains true if the homing was successful.

is_grasped()

bool franky::Gripper::is_grasped ( ) const

inline

Whether the gripper is grasping.

max_width()

double franky::Gripper::max_width ( ) const

inline

Maximum width of the gripper [m].

moveAsync()

std::shared_future< bool > franky::Gripper::moveAsync	(	double	width,
		double	speed
	)

Asynchronous variant of the franka::Gripper::move function.

Parameters

width	Intended opening width in [m].
speed	Speed of the movement in [m/s].

Returns

Future that becomes ready when the movement is finished. Contains true if the movement was successful,

open()

bool franky::Gripper::open

(

double

speed

)

Opens the gripper fully.

Parameters

speed

Speed of the movement in [m/s].

Returns

True if the gripper was opened successfully.

openAsync()

std::shared_future< bool > franky::Gripper::openAsync

(

double

speed

)

Asynchronous variant of the open function.

Parameters

speed

Speed of the movement in [m/s].

Returns

Future that becomes ready when the gripper is fully opened. Contains true if the gripper was opened successfully.

state()

franka::GripperState franky::Gripper::state ( ) const

inline

Current gripper state.

stopAsync()

std::shared_future< bool > franky::Gripper::stopAsync

(

)

Asynchronous variant of the franka::Gripper::stop function.

Returns

A future that becomes ready when the stop is finished. Contains true if the stop was successful.

width()

double franky::Gripper::width ( ) const

inline

Current opening width of the gripper [m].

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The documentation for this class was generated from the following files:

• /home/runner/work/franky/franky/include/franky/gripper.hpp
• /home/runner/work/franky/franky/src/gripper.cpp