IMURosPublisher.h

Go to the documentation of this file.

/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
 
#ifndef YARP_DEV_IMUROSPUBLISHER_H
#define YARP_DEV_IMUROSPUBLISHER_H
 
#include "GenericSensorRosPublisher.h"
 
 // Thrift-generated classes
#include <yarp/rosmsg/sensor_msgs/Imu.h>
 
class IMURosPublisher : public GenericSensorRosPublisher<yarp::rosmsg::sensor_msgs::Imu>
{
    // Interface of the wrapped device
    yarp::dev::IThreeAxisLinearAccelerometers* m_iThreeAxisLinearAccelerometers{ nullptr };
    yarp::dev::IThreeAxisGyroscopes*           m_iThreeAxisGyroscopes{ nullptr };
    yarp::dev::IOrientationSensors*            m_iOrientationSensors{ nullptr };
    yarp::dev::IThreeAxisMagnetometers*        m_iThreeAxisMagnetometers{ nullptr };
 
public:
    using GenericSensorRosPublisher<yarp::rosmsg::sensor_msgs::Imu>::GenericSensorRosPublisher;
 
    using GenericSensorRosPublisher<yarp::rosmsg::sensor_msgs::Imu>::open;
    using GenericSensorRosPublisher<yarp::rosmsg::sensor_msgs::Imu>::close;
    using GenericSensorRosPublisher<yarp::rosmsg::sensor_msgs::Imu>::attachAll;
    using GenericSensorRosPublisher<yarp::rosmsg::sensor_msgs::Imu>::detachAll;
 
    /* PeriodicRateThread methods */
    void run() override;
 
protected:
    bool viewInterfaces() override;
};
 
#endif