converter_base.hpp
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00001 /*
00002  * Copyright 2015 Aldebaran
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 
00018 #ifndef BASE_CONVERTER_HPP
00019 #define BASE_CONVERTER_HPP
00020 
00021 /*
00022 * LOCAL includes
00023 */
00024 #include <naoqi_driver/tools.hpp>
00025 #include "../helpers/driver_helpers.hpp"
00026 
00027 /*
00028 * ALDEBARAN includes
00029 */
00030 #include <qi/session.hpp>
00031 #include <qi/anyobject.hpp>
00032 
00033 namespace naoqi
00034 {
00035 namespace converter
00036 {
00037 
00038 // CRTP
00039 template<class T>
00040 class BaseConverter
00041 {
00042 
00043 public:
00044   BaseConverter( const std::string& name, float frequency, qi::SessionPtr session ):
00045     name_( name ),
00046     frequency_( frequency ),
00047     robot_( helpers::driver::getRobot(session) ),
00048     session_(session),
00049     record_enabled_(false)
00050   {}
00051 
00052   virtual ~BaseConverter() {}
00053 
00054   inline std::string name() const
00055   {
00056     return name_;
00057   }
00058 
00059   inline float frequency() const
00060   {
00061     return frequency_;
00062   }
00063 
00064 protected:
00065   std::string name_;
00066 
00068   float frequency_;
00070   const robot::Robot& robot_;
00071 
00073   qi::SessionPtr session_;
00074 
00076   bool record_enabled_;
00077 }; // class
00078 
00079 } // converter
00080 } // naoqi
00081 
00082 #endif


naoqi_driver
Author(s): Karsten Knese
autogenerated on Sun Sep 17 2017 02:57:14