franka::VacuumGripper Class Reference

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 class	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.
	VacuumGripper (VacuumGripper &&vacuum_gripper) noexcept
	Move-constructs a new VacuumGripper instance.
VacuumGripper &	operator= (VacuumGripper &&vacuum_gripper) noexcept
	Move-assigns this VacuumGripper from another VacuumGripper instance.
	~VacuumGripper () noexcept
	Closes the connection.
bool	vacuum (uint8_t vacuum, std::chrono::milliseconds timeout, ProductionSetupProfile profile=ProductionSetupProfile::kP0) const
	Vacuums an object.
bool	dropOff (std::chrono::milliseconds timeout) const
	Drops the grasped object off.
bool	stop () const
	Stops a currently running vacuum gripper vacuum or drop off operation.
VacuumGripperState	readOnce () const
	Waits for a vacuum gripper state update and returns it.
ServerVersion	serverVersion () const noexcept
	Returns the software version reported by the connected server.

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.

Returns

True if the vacuum has been established, false otherwise.

Exceptions

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

Examples

vacuum_object.cpp.

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The documentation for this class was generated from the following file:

• include/franka/vacuum_gripper.h