79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
/*
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# Copyright (c) 2023 Juan Jose Quiroz Omana
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#
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# This file is part of sas_robot_driver_franka.
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#
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# sas_robot_driver_franka is free software: you can redistribute it and/or modify
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# it under the terms of the GNU Lesser General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# sas_robot_driver_franka is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU Lesser General Public License for more details.
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#
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# You should have received a copy of the GNU Lesser General Public License
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# along with sas_robot_driver. If not, see <https://www.gnu.org/licenses/>.
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#
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# ################################################################
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#
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# Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
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#
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# ################################################################
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#
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# Contributors:
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# 1. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
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# - Original implementation
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#
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# ################################################################
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*/
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#pragma once
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#include <dqrobotics/DQ.h>
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#include <memory.h>
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#include <tuple>
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#include <exception>
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#include <vector>
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#include <franka/robot.h>
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#include <franka/gripper.h>
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#include <franka/exception.h>
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#include <thread>
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#include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
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#include <atomic>
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using namespace DQ_robotics;
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using namespace Eigen;
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class RobotInterfaceHand
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{
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protected:
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double speed_gripper_ = 0.02;
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std::string ip_ = "172.16.0.2";
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std::shared_ptr<franka::Gripper> gripper_sptr_;
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void _check_if_hand_is_connected();
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public:
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enum GRIPPER_MODE_STATES{WIDTH=0, MAX_WIDTH=1};
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RobotInterfaceHand() = delete;
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RobotInterfaceHand(const RobotInterfaceHand&) = delete;
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RobotInterfaceHand& operator= (const RobotInterfaceHand&) = delete;
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RobotInterfaceHand(const std::string &ROBOT_IP);
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double read_gripper(const GRIPPER_MODE_STATES& gripper_state = WIDTH);
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bool read_grasped_status();
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void set_gripper(const double& width);
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void gripper_homing();
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bool grasp_object(const double& width,
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const double& speed,
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const double& force,
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double epsilon_inner = 0.005,
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double epsilon_outer = 0.005);
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void release_object();
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VectorXd get_home_robot_configuration();
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};
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