libfranka  0.14.1
FCI C++ API
vacuum_gripper_state.h
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1 // Copyright (c) 2023 Franka Robotics GmbH
2 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
3 #pragma once
4 
5 #include <cstdint>
6 #include <ostream>
7 #include <string>
8 
9 #include <franka/duration.h>
10 
16 namespace franka {
17 
21 enum class VacuumGripperDeviceStatus : uint8_t {
22  kGreen,
23  kYellow,
24  kOrange,
25  kRed
26 };
27 
36 
40  bool part_detached{};
41 
45  bool part_present{};
46 
51 
55  uint16_t actual_power{};
56 
60  uint16_t vacuum{};
61 
66 };
67 
77 std::ostream& operator<<(std::ostream& ostream,
78  const franka::VacuumGripperState& vacuum_gripper_state);
79 
80 } // namespace franka
Represents a duration with millisecond resolution.
Definition: duration.h:19
Contains the franka::Duration type.
std::ostream & operator<<(std::ostream &ostream, const Errors &errors)
Streams the errors as JSON array.
Describes the vacuum gripper state.
Definition: vacuum_gripper_state.h:31
uint16_t actual_power
Current vacuum gripper actual power.
Definition: vacuum_gripper_state.h:55
bool in_control_range
Vacuum value within in setpoint area.
Definition: vacuum_gripper_state.h:35
bool part_detached
The part has been detached after a suction cycle.
Definition: vacuum_gripper_state.h:40
Duration time
Strictly monotonically increasing timestamp since robot start.
Definition: vacuum_gripper_state.h:65
VacuumGripperDeviceStatus device_status
Current vacuum gripper device status.
Definition: vacuum_gripper_state.h:50
uint16_t vacuum
Current system vacuum.
Definition: vacuum_gripper_state.h:60
bool part_present
Vacuum is over H2 and not yet under H2-h2.
Definition: vacuum_gripper_state.h:45
VacuumGripperDeviceStatus
Vacuum gripper device status.
Definition: vacuum_gripper_state.h:21
@ kOrange
Device is working but there are severe warnings.
@ kGreen
Device is working optimally.
@ kYellow
Device is working but there are warnings.
@ kRed
Device is not working properly.