Program Listing for File gripper.h
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// 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