.. _program_listing_file__tmp_ws_src_vrpn_mocap_include_vrpn_mocap_client.hpp:

Program Listing for File client.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_vrpn_mocap_include_vrpn_mocap_client.hpp>` (``/tmp/ws/src/vrpn_mocap/include/vrpn_mocap/client.hpp``)

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

.. code-block:: cpp

   // MIT License
   //
   // Copyright (c) 2022 Alvin Sun
   //
   // Permission is hereby granted, free of charge, to any person obtaining a copy
   // of this software and associated documentation files (the "Software"), to deal
   // in the Software without restriction, including without limitation the rights
   // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   // copies of the Software, and to permit persons to whom the Software is
   // furnished to do so, subject to the following conditions:
   //
   // The above copyright notice and this permission notice shall be included in all
   // copies or substantial portions of the Software.
   //
   // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
   // SOFTWARE.
   
   #ifndef VRPN_MOCAP__CLIENT_HPP_
   #define VRPN_MOCAP__CLIENT_HPP_
   
   #include <memory>
   #include <string>
   #include <unordered_map>
   
   #include "rclcpp/rclcpp.hpp"
   #include "vrpn_mocap/tracker.hpp"
   
   namespace vrpn_mocap
   {
   
   class Client : public rclcpp::Node
   {
   public:
     explicit Client(const std::string & name);
   
   private:
     std::string ParseHost();
   
     void RefreshConnection();
   
     void MainLoop();
   
     std::unordered_map<std::string, Tracker::SharedPtr> trackers_;
   
     rclcpp::TimerBase::SharedPtr refresh_timer_;
     rclcpp::TimerBase::SharedPtr mainloop_timer_;
   
     const std::string frame_id_;
     const std::shared_ptr<vrpn_Connection> connection_;
   };
   
   }  // namespace vrpn_mocap
   
   #endif  // VRPN_MOCAP__CLIENT_HPP_