api/_gripper_8hpp_source.html

 #ifndef FLEXIVRDK_GRIPPER_HPP_

 #define FLEXIVRDK_GRIPPER_HPP_


 #include "Robot.hpp"

 #include <memory>


 namespace flexiv {


 class Gripper

 {

 public:

     Gripper(const Robot& robot);

     virtual ~Gripper();


     void grasp(double force);


     void move(double width, double velocity, double forceLimit = 0);


     void stop(void);


     void getGripperStates(GripperStates& output);


 private:

     class Impl;

     std::unique_ptr<Impl> m_pimpl;

 };


 } /* namespace flexiv */


 #endif /* FLEXIVRDK_GRIPPER_HPP_ */

Robot.hpp

flexiv::Gripper
Interface with grippers supported by Flexiv.
Definition: Gripper.hpp:19

flexiv::Gripper::stop
void stop(void)
[Blocking] Stop the gripper.

flexiv::Gripper::move
void move(double width, double velocity, double forceLimit=0)
[Blocking] Move the gripper fingers with position control.

flexiv::Gripper::getGripperStates
void getGripperStates(GripperStates &output)
[Non-blocking] Get current gripper states.

flexiv::Gripper::Gripper
Gripper(const Robot &robot)
[Non-blocking] Create a flexiv::Gripper instance and initialize robot gripper control.

flexiv::Gripper::grasp
void grasp(double force)
[Blocking] Grasp with direct force control. Requires the mounted gripper to support direct force cont...

flexiv::Robot
Main interface with the robot, containing several function categories and background services.
Definition: Robot.hpp:25

flexiv::GripperStates
Data struct containing the gripper states.
Definition: Data.hpp:236