Program Listing for File calibration_consumer.hpp

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#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_