SpnavSensorDevice.hpp

#ifndef __SPNAV_SENSOR_DEVICE_HPP__
#define __SPNAV_SENSOR_DEVICE_HPP__
 
#include "StreamingDevice.hpp"
 
#include <yarp/dev/IAnalogSensor.h>
 
namespace roboticslab
{
 
class SpnavSensorDevice : public StreamingDevice
{
public:
    SpnavSensorDevice(yarp::os::Searchable & config, bool usingMovi, double gain = 0.0);
 
    bool acquireInterfaces() override;
 
    bool initialize(bool usingStreamingPreset) override;
 
    bool acquireData() override;
 
    bool transformData(double scaling) override;
 
    int getActuatorState() override;
 
    bool hasValidMovementData() const override;
 
    void sendMovementCommand(double timestamp) override;
 
    void stopMotion() override;
 
private:
    yarp::dev::IAnalogSensor * iAnalogSensor;
 
    std::vector<double> currentX;
 
    bool usingPose;
    double gain;
    bool buttonClose;
    bool buttonOpen;
};
 
} // namespace roboticslab
 
#endif // __SPNAV_SENSOR_DEVICE_HPP__