Frankx  0.2.0
A High-Level Motion API for Franka
Public Member Functions | Public Attributes | Static Public Attributes | List of all members
frankx::Gripper Class Reference

#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: