SpatialVelocityYarpPort.h

/*
 * Copyright (C) 2019 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_SPATIALVELOCITYYARPVECTOR_H
#define ROBOTSIO_SPATIALVELOCITYYARPVECTOR_H
 
#include <RobotsIO/Utils/SpatialVelocity.h>
#include <RobotsIO/Utils/YarpVectorOfProbe.hpp>
 
#include <Eigen/Dense>
 
#include <chrono>
 
namespace RobotsIO {
    namespace Utils {
        class SpatialVelocityYarpPort;
    }
}
 
class RobotsIO::Utils::SpatialVelocityYarpPort : public RobotsIO::Utils::SpatialVelocity,
                                                 public RobotsIO::Utils::YarpVectorOfProbe<double>
{
public:
    SpatialVelocityYarpPort(const std::string& port_name);
 
    virtual ~SpatialVelocityYarpPort();
 
    bool freeze(const bool blocking = false) override;
 
    double elapsed_time() override;
 
protected:
    Eigen::VectorXd twist() override;
 
private:
    std::chrono::steady_clock::time_point last_time_;
 
    double elapsed_time_;
 
    bool last_time_initialized_ = false;
 
    Eigen::VectorXd twist_;
};
 
#endif /* ROBOTSIO_SPATIALVELOCITYYARPVECTOR_H */