TransformYarpTransformClient.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_TRANSFORMYARPTRANSFORMCLIENT_H
#define ROBOTSIO_TRANSFORMYARPTRANSFORMCLIENTR_H
 
#include <RobotsIO/Utils/Transform.h>
 
#include <Eigen/Dense>
 
#include <string>
 
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IFrameTransform.h>
#include <yarp/os/Network.h>
 
namespace RobotsIO {
    namespace Utils {
        class TransformYarpTransformClient;
    }
}
 
 
class RobotsIO::Utils::TransformYarpTransformClient : public RobotsIO::Utils::Transform
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    TransformYarpTransformClient(const std::string& port_prefix, const std::string& source_name, const std::string& target_name);
 
    virtual ~TransformYarpTransformClient();
 
    Eigen::Transform<double, 3, Eigen::Affine> transform() override;
 
    bool freeze(const bool blocking = false) override;
 
private:
    yarp::os::Network yarp_;
 
    yarp::dev::PolyDriver drv_transform_client_;
 
    yarp::dev::IFrameTransform* transform_client_;
 
    Eigen::Transform<double, 3, Eigen::Affine> transform_;
 
    const std::string source_name_;
 
    const std::string target_name_;
 
    const std::string log_name_ = "TransformYarpTransformClient";
};
 
#endif /* ROBOTSIO_TRANSFORMYARPTRANSFORMCLIENT_H */