.. _program_listing_file_include_franka_gripper.h:

Program Listing for File gripper.h
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_franka_gripper.h>` (``include/franka/gripper.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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 <memory>
   #include <string>
   
   #include <franka/gripper_state.h>
   
   namespace franka {
   
   class Network;
   
   class Gripper {
    public:
     using ServerVersion = uint16_t;
   
     explicit Gripper(const std::string& franka_address);
   
     Gripper(Gripper&& gripper) noexcept;
   
     Gripper& operator=(Gripper&& gripper) noexcept;
   
     ~Gripper() noexcept;
   
     bool homing() const;
   
     bool grasp(double width,
                double speed,
                double force,
                double epsilon_inner = 0.005,
                double epsilon_outer = 0.005) const;
   
     bool move(double width, double speed) const;
   
     bool stop() const;
   
     GripperState readOnce() const;
   
     ServerVersion serverVersion() const noexcept;
   
     Gripper(const Gripper&) = delete;
     Gripper& operator=(const Gripper&) = delete;
   
    private:
     std::unique_ptr<Network> network_;
   
     uint16_t ri_version_;
   };
   
   }  // namespace franka