WiimoteSensorDevice.hpp

#ifndef __WIIMOTE_SENSOR_DEVICE_HPP__
#define __WIIMOTE_SENSOR_DEVICE_HPP__
 
#include "StreamingDevice.hpp"
 
#include <vector>
 
#include <yarp/os/Value.h>
#include <yarp/dev/IAnalogSensor.h>
 
#define DEFAULT_STEP 0.01
 
namespace roboticslab
{
 
class WiimoteSensorDevice : public StreamingDevice
{
public:
    WiimoteSensorDevice(yarp::os::Searchable & config, bool usingPose);
 
    bool acquireInterfaces() override;
 
    bool initialize(bool usingStreamingPreset) override;
 
    bool acquireData() override;
 
    bool transformData(double scaling) override;
 
    bool hasValidMovementData() const override;
 
    void sendMovementCommand(double timestamp) override;
 
    void stopMotion() override;
 
private:
    enum cmd_mode { NONE, FWD, BKWD, ROT };
 
    yarp::dev::IAnalogSensor * iAnalogSensor;
 
    cmd_mode mode;
 
    std::vector<double> buffer;
 
    bool usingPose;
    double step;
};
 
} // namespace roboticslab
 
#endif // __WIIMOTE_SENSOR_DEVICE_HPP__