79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
/*
|
|
# Copyright (c) 2023 Juan Jose Quiroz Omana
|
|
#
|
|
# This file is part of sas_robot_driver_franka.
|
|
#
|
|
# sas_robot_driver_franka is free software: you can redistribute it and/or modify
|
|
# it under the terms of the GNU Lesser General Public License as published by
|
|
# the Free Software Foundation, either version 3 of the License, or
|
|
# (at your option) any later version.
|
|
#
|
|
# sas_robot_driver_franka is distributed in the hope that it will be useful,
|
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
# GNU Lesser General Public License for more details.
|
|
#
|
|
# You should have received a copy of the GNU Lesser General Public License
|
|
# along with sas_robot_driver. If not, see <https://www.gnu.org/licenses/>.
|
|
#
|
|
# ################################################################
|
|
#
|
|
# Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
|
|
#
|
|
# ################################################################
|
|
#
|
|
# Contributors:
|
|
# 1. Juan Jose Quiroz Omana (juanjqogm@gmail.com)
|
|
# - Original implementation
|
|
#
|
|
# ################################################################
|
|
*/
|
|
|
|
|
|
#pragma once
|
|
|
|
#include <dqrobotics/DQ.h>
|
|
#include <memory.h>
|
|
#include <tuple>
|
|
#include <exception>
|
|
#include <vector>
|
|
#include <franka/robot.h>
|
|
#include <franka/gripper.h>
|
|
#include <franka/exception.h>
|
|
#include <thread>
|
|
#include <dqrobotics/robots/FrankaEmikaPandaRobot.h>
|
|
#include <atomic>
|
|
|
|
using namespace DQ_robotics;
|
|
using namespace Eigen;
|
|
|
|
|
|
|
|
class RobotInterfaceHand
|
|
{
|
|
protected:
|
|
double speed_gripper_ = 0.05;//0.02
|
|
std::string ip_ = "172.16.0.2";
|
|
std::shared_ptr<franka::Gripper> gripper_sptr_;
|
|
void _check_if_hand_is_connected();
|
|
public:
|
|
enum GRIPPER_MODE_STATES{WIDTH=0, MAX_WIDTH=1};
|
|
RobotInterfaceHand() = delete;
|
|
RobotInterfaceHand(const RobotInterfaceHand&) = delete;
|
|
RobotInterfaceHand& operator= (const RobotInterfaceHand&) = delete;
|
|
RobotInterfaceHand(const std::string &ROBOT_IP);
|
|
|
|
double read_gripper(const GRIPPER_MODE_STATES& gripper_state = WIDTH);
|
|
bool read_grasped_status();
|
|
void set_gripper(const double& width);
|
|
void gripper_homing();
|
|
bool grasp_object(const double& width,
|
|
const double& speed,
|
|
const double& force,
|
|
double epsilon_inner = 0.005,
|
|
double epsilon_outer = 0.005);
|
|
void release_object();
|
|
VectorXd get_home_robot_configuration();
|
|
};
|
|
|