touch.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 TOUCH_EVENT_CONVERTER_HPP
00019 #define TOUCH_EVENT_CONVERTER_HPP
00020 
00021 /*
00022 * LOCAL includes
00023 */
00024 #include "converter_base.hpp"
00025 #include <naoqi_driver/message_actions.h>
00026 
00027 /*
00028 * ROS includes
00029 */
00030 #include <naoqi_bridge_msgs/Bumper.h>
00031 #include <naoqi_bridge_msgs/HandTouch.h>
00032 #include <naoqi_bridge_msgs/HeadTouch.h>
00033 
00034 /*
00035 * ALDEBARAN includes
00036 */
00037 #include <qi/anymodule.hpp>
00038 
00039 namespace naoqi{
00040 
00041 namespace converter{
00042 
00043 template <class T>
00044 class TouchEventConverter : public BaseConverter<TouchEventConverter<T> >
00045 {
00046 
00047   typedef boost::function<void(T&) > Callback_t;
00048 
00049 public:
00050   TouchEventConverter(const std::string& name, const float& frequency, const qi::SessionPtr& session);
00051 
00052   ~TouchEventConverter();
00053 
00054   virtual void reset();
00055 
00056   void registerCallback( const message_actions::MessageAction action, Callback_t cb );
00057 
00058   void callAll(const std::vector<message_actions::MessageAction>& actions, T& msg);
00059 
00060 private:
00062   std::map<message_actions::MessageAction, Callback_t> callbacks_;
00063   T msg_;
00064 };
00065 
00066 }
00067 
00068 }
00069 
00070 #endif // TOUCH_CONVERTER_HPP


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