iCubHand.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_ICUBHAND_H
#define ROBOTSIO_ICUBHAND_H
 
#include <Eigen/Dense>
 
#include <iCub/iKin/iKinFwd.h>
 
#include <yarp/dev/IAnalogSensor.h>
#include <yarp/dev/IControlLimits.h>
#include <yarp/dev/IEncoders.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/sig/Matrix.h>
#include <yarp/os/Network.h>
#include <yarp/os/ResourceFinder.h>
 
#include <string>
#include <unordered_map>
 
namespace RobotsIO {
    namespace Hand {
        class iCubHand;
    }
}
 
 
class RobotsIO::Hand::iCubHand
{
public:
    iCubHand(const std::string& robot_name, const std::string& laterality, const std::string& port_prefix, const std::string& context, const bool& use_analogs, const std::string& thumb_version = "");
 
    virtual ~iCubHand();
 
    std::pair<bool, std::unordered_map<std::string, Eigen::VectorXd>> encoders(const bool& blocking);
 
protected:
    std::pair<bool, yarp::sig::Vector> load_vector_double(const yarp::os::ResourceFinder& rf, const std::string key, const std::size_t size);
 
    yarp::os::Network yarp_;
 
    const bool use_analogs_ = false;
 
    bool use_interface_analogs_ = false;
 
    bool use_interface_arm_ = false;
 
    yarp::dev::PolyDriver drv_analog_;
 
    yarp::dev::IAnalogSensor *ianalog_{nullptr};
 
    yarp::dev::IControlLimits *ilimits_{nullptr};
 
    yarp::dev::PolyDriver drv_arm_;
 
    yarp::dev::IEncoders *iarm_{nullptr};
 
    yarp::os::BufferedPort<yarp::os::Bottle> port_analogs_;
 
    yarp::os::BufferedPort<yarp::os::Bottle> port_arm_;
 
    std::unordered_map<std::string, iCub::iKin::iCubFinger> fingers_;
 
    yarp::sig::Matrix analog_bounds_;
 
    bool use_bounds_ = false;
 
    const std::string log_name_ = "iCubHand";
};
 
#endif /* ROBOTSIO_ICUBHAND_H */