gripper_state.h
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1 // Copyright (c) 2017 Franka Emika GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <cstdint>
6 #include <ostream>
7 
8 #include <franka/duration.h>
9 
15 namespace franka {
16 
20 struct GripperState {
24  double width{};
25 
33  double max_width{};
34 
38  bool is_grasped{};
39 
43  uint16_t temperature{};
44 
49 };
50 
59 std::ostream& operator<<(std::ostream& ostream, const franka::GripperState& gripper_state);
60 
61 } // namespace franka
double max_width
Maximum gripper opening width.
Definition: gripper_state.h:33
Represents a duration with millisecond resolution.
Definition: duration.h:19
uint16_t temperature
Current gripper temperature.
Definition: gripper_state.h:43
Duration time
Strictly monotonically increasing timestamp since robot start.
Definition: gripper_state.h:48
bool is_grasped
Indicates whether an object is currently grasped.
Definition: gripper_state.h:38
Contains the franka::Duration type.
double width
Current gripper opening width.
Definition: gripper_state.h:24
std::ostream & operator<<(std::ostream &ostream, const Errors &errors)
Streams the errors as JSON array.
Describes the gripper state.
Definition: gripper_state.h:20


libfranka
Author(s): Franka Emika GmbH
autogenerated on Tue Jul 9 2019 03:32:01