SpnavSensorDevice.hpp

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