Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands. More...

#include <vacuum_gripper.h>

Public Types
enum	ProductionSetupProfile { kP0, kP1, kP2, kP3 }
	Vacuum production setup profile.

using	ServerVersion = uint16_t
	Version of the vacuum gripper server.

Public Member Functions
	VacuumGripper (const std::string &franka_address)
	Establishes a connection with a vacuum gripper connected to a robot. More...

	VacuumGripper (VacuumGripper &&vacuum_gripper) noexcept
	Move-constructs a new VacuumGripper instance. More...

VacuumGripper &	operator= (VacuumGripper &&vacuum_gripper) noexcept
	Move-assigns this VacuumGripper from another VacuumGripper instance. More...

	~VacuumGripper () noexcept
	Closes the connection.

bool	vacuum (uint8_t vacuum, std::chrono::milliseconds timeout, ProductionSetupProfile profile=ProductionSetupProfile::kP0) const
	Vacuums an object. More...

bool	dropOff (std::chrono::milliseconds timeout) const
	Drops the grasped object off. More...

bool	stop () const
	Stops a currently running vacuum gripper vacuum or drop off operation. More...

VacuumGripperState	readOnce () const
	Waits for a vacuum gripper state update and returns it. More...

ServerVersion	serverVersion () const noexcept
	Returns the software version reported by the connected server. More...

Detailed Description

Maintains a network connection to the vacuum gripper, provides the current vacuum gripper state, and allows the execution of commands.

Note: The members of this class are threadsafe.

Examples:: vacuum_object.cpp.

Constructor & Destructor Documentation

◆ VacuumGripper() [1/2]

franka::VacuumGripper::VacuumGripper ( const std::string & franka_address )

explicit

Establishes a connection with a vacuum gripper connected to a robot.

Parameters

[in] franka_address IP/hostname of the robot the vacuum gripper is connected to.

Exceptions

NetworkException	if the connection is unsuccessful.
IncompatibleVersionException	if this version of `libfranka` is not supported.

◆ VacuumGripper() [2/2]

franka::VacuumGripper::VacuumGripper ( VacuumGripper && vacuum_gripper )

noexcept

Move-constructs a new VacuumGripper instance.

Parameters

[in] vacuum_gripper Other VacuumGripper instance.

Member Function Documentation

◆ dropOff()

bool franka::VacuumGripper::dropOff ( std::chrono::milliseconds timeout ) const

Drops the grasped object off.

Parameters

[in] timeout Dropoff timeout. Unit: \([ms]\).

Returns: True if command was successful, false otherwise.

Exceptions

CommandException	if an error occurred.
NetworkException	if the connection is lost, e.g. after a timeout.

Examples:: vacuum_object.cpp.

◆ operator=()

VacuumGripper& franka::VacuumGripper::operator= ( VacuumGripper && vacuum_gripper )

noexcept

Move-assigns this VacuumGripper from another VacuumGripper instance.

Parameters

[in] vacuum_gripper Other VacuumGripper instance.

Returns: Model instance.

◆ readOnce()

VacuumGripperState franka::VacuumGripper::readOnce ( ) const

Waits for a vacuum gripper state update and returns it.

Returns: Current vacuum gripper state.

Exceptions

NetworkException	if the connection is lost, e.g. after a timeout.
InvalidOperationException	if another readOnce is already running.

Examples:: vacuum_object.cpp.

◆ serverVersion()

ServerVersion franka::VacuumGripper::serverVersion ( ) const

noexcept

Returns the software version reported by the connected server.

Returns: Software version of the connected server.

◆ stop()

bool franka::VacuumGripper::stop ( ) const

Stops a currently running vacuum gripper vacuum or drop off operation.

Returns: True if command was successful, false otherwise.

Exceptions

CommandException	if an error occurred.
NetworkException	if the connection is lost, e.g. after a timeout.

Examples:: vacuum_object.cpp.

◆ vacuum()

bool franka::VacuumGripper::vacuum	(	uint8_t	vacuum,
		std::chrono::milliseconds	timeout,
		ProductionSetupProfile	profile = `ProductionSetupProfile::kP0`
	)		const

Vacuums an object.

Parameters

[in]	vacuum	Setpoint for control mode. Unit: \([10*mbar]\).
[in]	timeout	Vacuum timeout. Unit: \([ms]\).
[in]	profile	Production setup profile P0 to P3. Default: P0.