VisualServoController.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __VISUAL_SERVO_CONTROLLER_HPP__
#define __VISUAL_SERVO_CONTROLLER_HPP__
 
#include <yarp/os/BufferedPort.h>
#include <yarp/os/RFModule.h>
 
#include <yarp/dev/PolyDriver.h>
 
#include "ICartesianControl.h"
#if 0
# include "IProximitySensors.h"
#endif
#include "GrabberResponder.hpp"
 
namespace roboticslab
{
 
class VisualServoController : public yarp::os::RFModule
{
public:
    ~VisualServoController() override
    { close(); }
 
    bool configure(yarp::os::ResourceFinder & rf) override;
    bool updateModule() override;
    bool interruptModule() override;
    bool close() override;
    double getPeriod() override;
 
private:
    GrabberResponder grabberResponder;
    yarp::os::BufferedPort<yarp::os::Bottle> grabberPort;
 
    yarp::dev::PolyDriver cartesianControlDevice;
    roboticslab::ICartesianControl * iCartesianControl {nullptr};
 
#if 0
    yarp::dev::PolyDriver sensorsClientDevice;
    roboticslab::IProximitySensors * iProximitySensors {nullptr};
#endif
 
    double period;
};
 
} // namespace roboticslab
 
#endif // __VISUAL_SERVO_CONTROLLER_HPP__