gripper.hpp

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#pragma once
 
#include <future>
 
#include <franka/exception.h>
#include <franka/gripper.h>
 
namespace franky {
 
struct GripperException : public std::runtime_error {
  using std::runtime_error::runtime_error;
};
 
class Gripper : public franka::Gripper {
 public:
  explicit Gripper(const std::string &franka_address) : franka::Gripper(franka_address) {}
 
  Gripper(Gripper &&gripper) noexcept: franka::Gripper(std::move(gripper)) {}
 
  std::shared_future<bool> graspAsync(
      double width, double speed, double force, double epsilon_inner = 0.005, double epsilon_outer = 0.005);
 
  std::shared_future<bool> moveAsync(double width, double speed);
 
  bool open(double speed);
 
  std::shared_future<bool> openAsync(double speed);
 
  std::shared_future<bool> homingAsync();
 
  std::shared_future<bool> stopAsync();
 
  [[nodiscard]] inline double width() const {
    return state().width;
  }
 
  [[nodiscard]] inline bool is_grasped() const {
    return state().is_grasped;
  }
 
  [[nodiscard]] inline double max_width() const {
    return state().max_width;
  }
 
  [[nodiscard]] inline franka::GripperState state() const {
    return readOnce();
  }
 
private:
  std::shared_future<bool> current_future_;
 
  std::shared_future<bool> setCurrentFuture(std::future<bool> future);
};
 
} // namespace franky