#include <gripper.hpp>

Inheritance diagram for frankx::Gripper:

Public Member Functions
	Gripper (const std::string &fci_ip, double speed=0.04, double force=20.0)
	Connects to a gripper at the given FCI IP address. More...

double	width () const

bool	isGrasping () const

bool	move (double width)

bool	move_unsafe (double width)

std::future< bool >	moveAsync (double width)

bool	open ()

bool	clamp ()

bool	clamp (double min_clamping_width)

bool	release ()

bool	release (double width)

bool	releaseRelative (double width)

::franka::GripperState	get_state ()

Public Attributes
double	gripper_force {20.0}

double	gripper_speed {0.04}

bool	has_error {false}

const double	max_width {0.081 + width_calibration}

Static Public Attributes
static constexpr double	max_speed {0.1}

Constructor & Destructor Documentation

◆ Gripper()

frankx::Gripper::Gripper	(	const std::string &	fci_ip,
		double	speed = `0.04`,
		double	force = `20.0`
	)

explicit

Connects to a gripper at the given FCI IP address.

Member Function Documentation

◆ clamp() [1/2]

bool frankx::Gripper::clamp ( )

◆ clamp() [2/2]

bool frankx::Gripper::clamp ( double min_clamping_width )

◆ get_state()

franka::GripperState frankx::Gripper::get_state ( )

◆ isGrasping()

bool frankx::Gripper::isGrasping ( ) const

◆ move()

bool frankx::Gripper::move ( double width )

◆ move_unsafe()

bool frankx::Gripper::move_unsafe ( double width )

◆ moveAsync()

std::future< bool > frankx::Gripper::moveAsync ( double width )

◆ open()

bool frankx::Gripper::open ( )

◆ release() [1/2]

bool frankx::Gripper::release ( )

◆ release() [2/2]

bool frankx::Gripper::release ( double width )

◆ releaseRelative()

bool frankx::Gripper::releaseRelative ( double width )

◆ width()

double frankx::Gripper::width ( ) const

Member Data Documentation

◆ gripper_force

double frankx::Gripper::gripper_force {20.0}

◆ gripper_speed

double frankx::Gripper::gripper_speed {0.04}

◆ has_error

bool frankx::Gripper::has_error {false}

◆ max_speed

constexpr double frankx::Gripper::max_speed {0.1}

staticconstexpr

◆ max_width

const double frankx::Gripper::max_width {0.081 + width_calibration}

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

/home/runner/work/frankx/frankx/include/frankx/gripper.hpp
/home/runner/work/frankx/frankx/src/frankx/gripper.cpp

Public Member Functions

Public Attributes

Static Public Attributes