gripper.hpp

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#ifndef FLEXIV_RDK_GRIPPER_HPP_
#define FLEXIV_RDK_GRIPPER_HPP_
 
#include "robot.hpp"
#include <memory>
 
namespace flexiv {
namespace rdk {
 
class Gripper
{
public:
    Gripper(const Robot& robot);
    virtual ~Gripper();
 
    void Init();
 
    void Grasp(double force);
 
    void Move(double width, double velocity, double force_limit = 0);
 
    void Stop();
 
    bool moving() const;
 
    const GripperStates states() const;
 
private:
    class Impl;
    std::unique_ptr<Impl> pimpl_;
};
 
} /* namespace rdk */
} /* namespace flexiv */
 
#endif /* FLEXIV_RDK_GRIPPER_HPP_ */