TransformWithVelocityYarpPort.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_TRANSFORMWITHVELOCITYYARPPORT_H
#define ROBOTSIO_TRANSFORMWITHVELOCITYYARPPORT_H
 
#include <RobotsIO/Utils/TransformWithVelocity.h>
#include <RobotsIO/Utils/YarpBufferedPort.hpp>
 
#include <yarp/sig/Vector.h>
 
#include <Eigen/Dense>
 
namespace RobotsIO {
    namespace Utils {
        class TransformWithVelocityYarpPort;
    }
}
 
class RobotsIO::Utils::TransformWithVelocityYarpPort : public RobotsIO::Utils::TransformWithVelocity,
                                                       public RobotsIO::Utils::YarpBufferedPort<yarp::sig::Vector>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    TransformWithVelocityYarpPort(const std::string& port_name);
 
    virtual ~TransformWithVelocityYarpPort();
 
    Eigen::Transform<double, 3, Eigen::Affine> transform() override;
 
    Eigen::Vector3d linear_velocity() override;
 
    Eigen::Vector3d angular_velocity() override;
 
    bool freeze(const bool blocking = false) override;
 
private:
    Eigen::Transform<double, 3, Eigen::Affine> transform_;
 
    Eigen::Vector3d linear_velocity_;
 
    Eigen::Vector3d angular_velocity_;
};
 
#endif /* ROBOTSIO_TRANSFORMWITHVELOCITYYARPPORT_H */