.. _program_listing_file_include_franka_vacuum_gripper.h:

Program Listing for File vacuum_gripper.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_franka_vacuum_gripper.h>` (``include/franka/vacuum_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 <chrono>
   #include <cstdint>
   #include <memory>
   #include <string>
   
   #include <franka/vacuum_gripper_state.h>
   
   namespace franka {
   
   class Network;
   
   class VacuumGripper {
    public:
     using ServerVersion = uint16_t;
   
     enum class ProductionSetupProfile { kP0, kP1, kP2, kP3 };
   
     explicit VacuumGripper(const std::string& franka_address);
   
     VacuumGripper(VacuumGripper&& vacuum_gripper) noexcept;
   
     VacuumGripper& operator=(VacuumGripper&& vacuum_gripper) noexcept;
   
     ~VacuumGripper() noexcept;
   
     bool vacuum(uint8_t vacuum,
                 std::chrono::milliseconds timeout,
                 ProductionSetupProfile profile = ProductionSetupProfile::kP0) const;
   
     bool dropOff(std::chrono::milliseconds timeout) const;
   
     bool stop() const;
   
     VacuumGripperState readOnce() const;
   
     ServerVersion serverVersion() const noexcept;
   
     VacuumGripper(const VacuumGripper&) = delete;
     VacuumGripper& operator=(const VacuumGripper&) = delete;
   
    private:
     std::unique_ptr<Network> network_;
   
     uint16_t ri_version_;
   };
   
   }  // namespace franka