vacuum_gripper_state.h

Go to the documentation of this file.

// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <cstdint>
#include <ostream>
#include <string>
 
#include <franka/duration.h>
 
namespace franka {
 
enum class VacuumGripperDeviceStatus : uint8_t {
  kGreen,  
  kYellow, 
  kOrange, 
  kRed     
};
 
struct VacuumGripperState {
  bool in_control_range{};
 
  bool part_detached{};
 
  bool part_present{};
 
  VacuumGripperDeviceStatus device_status{};
 
  uint16_t actual_power{};
 
  uint16_t vacuum{};
 
  Duration time{};
};
 
std::ostream& operator<<(std::ostream& ostream,
                         const franka::VacuumGripperState& vacuum_gripper_state);
 
}  // namespace franka