franka_gripper.h

Go to the documentation of this file.

// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once

#include <cmath>
#include <string>

#include <actionlib/server/simple_action_server.h>
#include <control_msgs/GripperCommandAction.h>
#include <ros/node_handle.h>

#include <franka/exception.h>
#include <franka/gripper.h>
#include <franka/gripper_state.h>
#include <franka_gripper/GraspAction.h>
#include <franka_gripper/HomingAction.h>
#include <franka_gripper/MoveAction.h>
#include <franka_gripper/StopAction.h>

namespace franka_gripper {

bool updateGripperState(const franka::Gripper& gripper, franka::GripperState* state);

void gripperCommandExecuteCallback(
    const franka::Gripper& gripper,
    const GraspEpsilon& grasp_epsilon,
    double default_speed,
    actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* action_server,
    const control_msgs::GripperCommandGoalConstPtr& goal);

bool move(const franka::Gripper& gripper, const MoveGoalConstPtr& goal);

bool homing(const franka::Gripper& gripper, const HomingGoalConstPtr& /*goal*/);

bool stop(const franka::Gripper& gripper, const StopGoalConstPtr& /*goal*/);

bool grasp(const franka::Gripper& gripper, const GraspGoalConstPtr& goal);

}  // namespace franka_gripper