A wrapper around the franka::Gripper class that adds asynchronous functionality.
More...
#include <gripper.hpp>
|
| | Gripper (const std::string &franka_address) |
| |
| | Gripper (Gripper &&gripper) noexcept |
| |
| std::future< bool > | graspAsync (double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005) const |
| | Asynchronous variant of the franka::Gripper::grasp function. More...
|
| |
| std::future< bool > | moveAsync (double width, double speed) const |
| | Asynchronous variant of the franka::Gripper::move function. More...
|
| |
| bool | open (double speed) |
| | Opens the gripper fully. More...
|
| |
| std::future< bool > | openAsync (double speed) |
| | Asynchronous variant of the open function. More...
|
| |
| std::future< bool > | homingAsync () |
| | Asynchronous variant of the franka::Gripper::homing function. More...
|
| |
| std::future< bool > | stopAsync () |
| | Asynchronous variant of the franka::Gripper::stop function. More...
|
| |
| double | width () const |
| | Current opening width of the gripper [m]. More...
|
| |
| bool | is_grasped () const |
| | Whether the gripper is grasping. More...
|
| |
| double | max_width () const |
| | Maximum width of the gripper [m]. More...
|
| |
| franka::GripperState | state () const |
| | Current gripper state. More...
|
| |
A wrapper around the franka::Gripper class that adds asynchronous functionality.
◆ Gripper() [1/2]
| franky::Gripper::Gripper |
( |
const std::string & |
franka_address | ) |
|
|
inlineexplicit |
◆ Gripper() [2/2]
| franky::Gripper::Gripper |
( |
Gripper && |
gripper | ) |
|
|
inlinenoexcept |
◆ graspAsync()
| std::future< bool > franky::Gripper::graspAsync |
( |
double |
width, |
|
|
double |
speed, |
|
|
double |
force, |
|
|
double |
epsilon_inner = 0.005, |
|
|
double |
epsilon_outer = 0.005 |
|
) |
| const |
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::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::future< bool > franky::Gripper::moveAsync |
( |
double |
width, |
|
|
double |
speed |
|
) |
| const |
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::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 |
◆ stopAsync()
| std::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].
The documentation for this class was generated from the following files:
