tof_radar_interface.h

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//
// Created by luotinkai on 2022/6/12.
//
 
#pragma once
 
#include <utility>
#include <hardware_interface/internal/hardware_resource_manager.h>
 
namespace rm_control
{
class TofRadarHandle
{
public:
  TofRadarHandle() = default;
 
  TofRadarHandle(std::string name, double* distance, double* strength)
    : name_(std::move(name)), distance_(distance), strength_(strength)
  {
    if (!distance_)
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name +
                                                           "'. distance_ pointer is null.");
    if (!strength_)
      throw hardware_interface::HardwareInterfaceException("Cannot create handle '" + name +
                                                           "'. strength_ pointer is null.");
  }
 
  std::string getName() const
  {
    return name_;
  }
 
  double getDistance() const
  {
    assert(distance_);
    return *distance_;
  }
 
  double getStrength() const
  {
    assert(strength_);
    return *strength_;
  }
 
private:
  std::string name_;
  double* distance_;
  double* strength_;
};
 
class TofRadarInterface
  : public hardware_interface::HardwareResourceManager<TofRadarHandle, hardware_interface::DontClaimResources>
{
};
 
}  // namespace rm_control