gripper.hpp

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#ifndef FLEXIV_RDK_GRIPPER_HPP_
#define FLEXIV_RDK_GRIPPER_HPP_
 
#include "robot.hpp"
#include <map>
#include <memory>
 
namespace flexiv::rdk {
 
struct GripperParams
{
    std::string name = {};
 
    double min_width = {};
 
    double max_width = {};
 
    double min_vel = {};
 
    double max_vel = {};
 
    double min_force = {};
 
    double max_force = {};
};
 
struct GripperStates
{
    double width = {};
 
    double force = {};
 
    bool is_moving = {};
};
 
std::ostream& operator<<(std::ostream& ostream, const GripperStates& gripper_states);
 
class Gripper
{
public:
    Gripper(const Robot& robot);
    virtual ~Gripper();
 
    void Enable(JointGroup group, const std::string& name);
 
    void Disable(JointGroup group);
 
    void Init(JointGroup group);
 
    void Grasp(JointGroup group, double force);
 
    void Move(JointGroup group, double width, double velocity, double force_limit);
 
    void Stop(JointGroup group);
 
    std::map<JointGroup, GripperParams> params() const;
 
    std::map<JointGroup, GripperStates> states() const;
 
private:
    class Impl;
    std::unique_ptr<Impl> pimpl_;
};
 
} /* namespace flexiv::rdk */
 
#endif /* FLEXIV_RDK_GRIPPER_HPP_ */