rm_imu_sensor_interface.h

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//
// Created by yezi on 2022/10/4.
//
#pragma once
 
#include <hardware_interface/imu_sensor_interface.h>
 
namespace rm_control
{
class RmImuSensorHandle : public hardware_interface::ImuSensorHandle
{
public:
  RmImuSensorHandle() = default;
 
  RmImuSensorHandle(const hardware_interface::ImuSensorHandle& imu_sensor_handle, ros::Time* time_stamp)
    : ImuSensorHandle(imu_sensor_handle), time_stamp_(time_stamp)
  {
    if (!time_stamp_)
    {
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + imu_sensor_handle.getName() +
                                                           "'. Time stamp pointer is null");
    }
  }
  ros::Time getTimeStamp()
  {
    assert(time_stamp_);
    return *time_stamp_;
  }
 
private:
  ros::Time* time_stamp_ = { nullptr };
};
 
class RmImuSensorInterface
  : public hardware_interface::HardwareResourceManager<RmImuSensorHandle, hardware_interface::DontClaimResources>
{
};
}  // namespace rm_control