touch.cpp

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/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

/*
* LOCAL includes
*/
#include "touch.hpp"

/*
* BOOST includes
*/
#include <boost/foreach.hpp>
#define for_each BOOST_FOREACH

namespace naoqi{

namespace converter{

template <class T>
TouchEventConverter<T>::TouchEventConverter(const std::string& name, const float& frequency, const qi::SessionPtr& session)
  : BaseConverter<TouchEventConverter<T> >(name, frequency, session)
{
}

template <class T>
TouchEventConverter<T>::~TouchEventConverter() {
}

template <class T>
void TouchEventConverter<T>::reset()
{
}

template <class T>
void TouchEventConverter<T>::registerCallback( const message_actions::MessageAction action, Callback_t cb )
{
  callbacks_[action] = cb;
}

template <class T>
void TouchEventConverter<T>::callAll(const std::vector<message_actions::MessageAction>& actions, T& msg)
{
  msg_ = msg;
  for_each( message_actions::MessageAction action, actions )
  {
    callbacks_[action](msg_);
  }
}

// http://stackoverflow.com/questions/8752837/undefined-reference-to-template-class-constructor
template class TouchEventConverter<naoqi_bridge_msgs::Bumper>;
template class TouchEventConverter<naoqi_bridge_msgs::HandTouch>;
template class TouchEventConverter<naoqi_bridge_msgs::HeadTouch>;
}

}