GrabberResponder.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __GRABBER_RESPONDER_HPP__
#define __GRABBER_RESPONDER_HPP__
 
#include <yarp/os/Bottle.h>
#include <yarp/os/PortReaderBuffer.h>
 
#include "ICartesianControl.h"
 
namespace roboticslab
{
 
class GrabberResponder : public yarp::os::TypedReaderCallback<yarp::os::Bottle>
{
public:
    void onRead(yarp::os::Bottle & b) override;
 
    void setICartesianControlDriver(roboticslab::ICartesianControl * iCartesianControl)
    {
        this->iCartesianControl = iCartesianControl;
    }
 
    void setNoApproachSetting(bool noApproach)
    {
        this->noApproach = noApproach;
    }
 
private:
    roboticslab::ICartesianControl * iCartesianControl {nullptr};
 
    bool isStopped {true};
    bool noApproach {false};
};
 
} // namespace roboticslab
 
#endif // __GRABBER_RESPONDER_HPP__