franka::Gripper Class Reference

Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands. More...

#include <gripper.h>

Public Types
using	ServerVersion = uint16_t
	Version of the gripper server. More...

Public Member Functions
bool	grasp (double width, double speed, double force, double epsilon_inner=0.005, double epsilon_outer=0.005) const
	Grasps an object. More...
	Gripper (const std::string &franka_address)
	Establishes a connection with a gripper connected to a robot. More...
	Gripper (Gripper &&gripper) noexcept
	Move-constructs a new Gripper instance. More...
bool	homing () const
	Performs homing of the gripper. More...
bool	move (double width, double speed) const
	Moves the gripper fingers to a specified width. More...
Gripper &	operator= (Gripper &&gripper) noexcept
	Move-assigns this Gripper from another Gripper instance. More...
GripperState	readOnce () const
	Waits for a gripper state update and returns it. More...
ServerVersion	serverVersion () const noexcept
	Returns the software version reported by the connected server. More...
bool	stop () const
	Stops a currently running gripper move or grasp. More...
	~Gripper () noexcept
	Closes the connection. More...

Private Attributes
std::unique_ptr< Network >	network_
uint16_t	ri_version_

Detailed Description

Maintains a network connection to the gripper, provides the current gripper state, and allows the execution of commands.

Note

The members of this class are threadsafe.

Definition at line 27 of file gripper.h.

Member Typedef Documentation

using franka::Gripper::ServerVersion = uint16_t

Version of the gripper server.

Definition at line 32 of file gripper.h.

Constructor & Destructor Documentation

franka::Gripper::Gripper ( const std::string &  franka_address )

explicit

Establishes a connection with a gripper connected to a robot.

Parameters

[in]

franka_address

IP/hostname of the robot the gripper is connected to.

Exceptions

NetworkException	if the connection is unsuccessful.
IncompatibleVersionException	if this version of libfranka is not supported.

franka::Gripper::Gripper ( Gripper &&  gripper )

noexcept

Move-constructs a new Gripper instance.

Parameters

[in]

gripper

Other Gripper instance.

franka::Gripper::~Gripper ( )

noexcept

Closes the connection.

Member Function Documentation

bool franka::Gripper::grasp	(	double	width,
		double	speed,
		double	force,
		double	epsilon_inner = 0.005,
		double	epsilon_outer = 0.005
	)		const

Grasps an object.

An object is considered grasped if the distance between the gripper fingers satisfies .

Parameters

[in]	width	Size of the object to grasp. [m]
[in]	speed	Closing speed. [m/s]
[in]	force	Grasping force. [N]
[in]	epsilon_inner	Maximum tolerated deviation when the actual grasped width is smaller than the commanded grasp width.
[in]	epsilon_outer	Maximum tolerated deviation when the actual grasped width is larger than the commanded grasp width.

Returns

True if an object has been grasped, false otherwise.

Exceptions

CommandException	if an error occurred.
NetworkException	if the connection is lost, e.g. after a timeout.

bool franka::Gripper::homing

(

)

const

Performs homing of the gripper.

After changing the gripper fingers, a homing needs to be done. This is needed to estimate the maximum grasping width.

Returns

True if command was successful, false otherwise.

Exceptions

CommandException	if an error occurred.
NetworkException	if the connection is lost, e.g. after a timeout.

See also

GripperState for the maximum grasping width.

bool franka::Gripper::move	(	double	width,
		double	speed
	)		const

Moves the gripper fingers to a specified width.

Parameters

[in]	width	Intended opening width. [m]
[in]	speed	Closing speed. [m/s]

Returns

True if command was successful, false otherwise.

Exceptions

CommandException	if an error occurred.
NetworkException	if the connection is lost, e.g. after a timeout.

Gripper& franka::Gripper::operator= ( Gripper &&  gripper )

noexcept

Move-assigns this Gripper from another Gripper instance.

Parameters

[in]

gripper

Other Gripper instance.

Returns

Model instance.

GripperState franka::Gripper::readOnce

(

)

const

Waits for a gripper state update and returns it.

Returns

Current gripper state.

Exceptions

NetworkException	if the connection is lost, e.g. after a timeout.
InvalidOperationException	if another readOnce is already running.

ServerVersion franka::Gripper::serverVersion ( ) const

noexcept

Returns the software version reported by the connected server.

Returns

Software version of the connected server.

bool franka::Gripper::stop

(

)

const

Stops a currently running gripper move or grasp.

Returns

True if command was successful, false otherwise.

Exceptions

CommandException	if an error occurred.
NetworkException	if the connection is lost, e.g. after a timeout.

Member Data Documentation

std::unique_ptr<Network> franka::Gripper::network_

private

Definition at line 151 of file gripper.h.

uint16_t franka::Gripper::ri_version_

private

Definition at line 153 of file gripper.h.

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

• gripper.h