.. _program_listing_file__tmp_ws_src_ur_robot_driver_ur_calibration_include_ur_calibration_calibration_consumer.hpp:

Program Listing for File calibration_consumer.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ur_robot_driver_ur_calibration_include_ur_calibration_calibration_consumer.hpp>` (``/tmp/ws/src/ur_robot_driver/ur_calibration/include/ur_calibration/calibration_consumer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // -- BEGIN LICENSE BLOCK ----------------------------------------------
   // Created on behalf of Universal Robots A/S
   // Copyright 2019 FZI Forschungszentrum Informatik
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the {copyright_holder} nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   // -- END LICENSE BLOCK ------------------------------------------------
   
   //----------------------------------------------------------------------
   //----------------------------------------------------------------------
   
   #ifndef UR_CALIBRATION__CALIBRATION_CONSUMER_HPP_
   #define UR_CALIBRATION__CALIBRATION_CONSUMER_HPP_
   
   #include <memory>
   
   #include "ur_client_library/comm/pipeline.h"
   #include "ur_client_library/primary/robot_state/kinematics_info.h"
   
   #include "ur_calibration/calibration.hpp"
   
   namespace ur_calibration
   {
   class CalibrationConsumer : public urcl::comm::IConsumer<urcl::primary_interface::PrimaryPackage>
   {
   public:
     CalibrationConsumer();
     virtual ~CalibrationConsumer() = default;
   
     virtual bool consume(std::shared_ptr<urcl::primary_interface::PrimaryPackage> product);
   
     bool isCalibrated() const
     {
       return calibrated_;
     }
   
     YAML::Node getCalibrationParameters() const;
   
   private:
     bool calibrated_;
     YAML::Node calibration_parameters_;
   };
   }  // namespace ur_calibration
   #endif  // UR_CALIBRATION__CALIBRATION_CONSUMER_HPP_