FloatMatrixYarpPort.h

/*
 * Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_FLOATMATRIXYARPPORT_H
#define ROBOTSIO_FLOATMATRIXYARPPORT_H
 
#include <Eigen/Dense>
 
#include <RobotsIO/Utils/FloatMatrix.h>
#include <RobotsIO/Utils/YarpBufferedPort.hpp>
 
#include <yarp/sig/Image.h>
 
namespace RobotsIO {
    namespace Utils {
        class FloatMatrixYarpPort;
    }
}
 
 
class RobotsIO::Utils::FloatMatrixYarpPort : public RobotsIO::Utils::FloatMatrix,
                                             public RobotsIO::Utils::YarpBufferedPort<yarp::sig::ImageOf<yarp::sig::PixelFloat>>
{
public:
    FloatMatrixYarpPort(const std::string& port_name);
 
    virtual ~FloatMatrixYarpPort();
 
    bool freeze(const bool blocking = false) override;
 
    Eigen::MatrixXf matrix() override;
 
private:
    Eigen::MatrixXf matrix_;
};
 
#endif /* ROBOTSIO_FLOATMATRIXYARPPORT_H */