Struct franka::gripper::gripper_state::GripperState

pub struct GripperState {
    pub width: f64,
    pub max_width: f64,
    pub is_grasped: bool,
    pub temperature: u16,
    pub time: Duration,
}

Describes the gripper state.

Fields

width: f64

Current gripper opening width. Unit: [m].

max_width: f64

Maximum gripper opening width. This parameter is estimated by homing the gripper. After changing the gripper fingers, a homing needs to be done. Unit: [m].

See Gripper::homing()

is_grasped: bool

Indicates whether an object is currently grasped.

temperature: u16

Current gripper temperature. Unit: [°C].

time: Duration

Strictly monotonically increasing timestamp since robot start.

Trait Implementations

impl Clone for GripperState

fn clone(&self) -> GripperState

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for GripperState

impl Debug for GripperState

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for GripperState

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error> where
    __D: Deserializer<'de>, 

Deserialize this value from the given Serde deserializer.

impl Serialize for GripperState

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error> where
    __S: Serializer, 

Serialize this value into the given Serde serializer.