imu.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 IMU_CONVERTER_HPP
00019 #define IMU_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 <sensor_msgs/Imu.h>
00031 
00032 namespace naoqi
00033 {
00034 namespace converter {
00035 
00036 namespace IMU{
00037 
00038 enum Location{
00039     TORSO,
00040     BASE
00041 };
00042 
00043 }
00044 
00045 class ImuConverter : public BaseConverter<ImuConverter>
00046 {
00047 
00048   typedef boost::function<void(sensor_msgs::Imu&) > Callback_t;
00049 
00050 public:
00051   ImuConverter(const std::string& name, const IMU::Location& location, const float& frequency, const qi::SessionPtr& session);
00052 
00053   ~ImuConverter();
00054 
00055   virtual void reset();
00056 
00057   void registerCallback( const message_actions::MessageAction action, Callback_t cb );
00058 
00059   virtual void callAll(const std::vector<message_actions::MessageAction>& actions);
00060 
00061 private:
00062   sensor_msgs::Imu msg_imu_;
00063   qi::AnyObject p_memory_;
00064   std::vector<std::string> data_names_list_;
00065 
00067   std::map<message_actions::MessageAction, Callback_t> callbacks_;
00068 };
00069 
00070 }
00071 
00072 }
00073 
00074 #endif // IMU_CONVERTER_HPP


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