franka_gripper.h

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// 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