6 #ifndef FLEXIV_RDK_GRIPPER_HPP_
7 #define FLEXIV_RDK_GRIPPER_HPP_
146 void Move(
double width,
double velocity,
double force_limit);
170 std::unique_ptr<Impl> pimpl_;
Interface to control the gripper installed on the robot. Because gripper is also a type of robot devi...
GripperStates states() const
[Non-blocking] Current states data of the enabled gripper.
GripperParams params() const
[Non-blocking] Parameters of the currently enabled gripper.
void Move(double width, double velocity, double force_limit)
[Blocking] Move the gripper fingers with position control.
void Stop()
[Blocking] Stop the gripper and hold its current finger width.
void Init()
[Blocking] Manually trigger the initialization of the enabled gripper. This step is not needed for gr...
void Disable()
[Blocking] Disable the currently enabled gripper.
void Enable(const std::string &name)
[Blocking] Enable the specified gripper as a robot device.
void Grasp(double force)
[Blocking] Grasp with direct force control. This function requires the enabled gripper to support dir...
Gripper(const Robot &robot)
[Non-blocking] Instantiate the gripper control interface.
Main interface to control the robot, containing several function categories and background services.
std::ostream & operator<<(std::ostream &ostream, const RobotEvent &robot_event)
Operator overloading to out stream all members of RobotEvent in JSON format.
Data structure containing the gripper parameters.
Data structure containing the gripper states.