XTrainerDevice.hpp

#ifndef __XTRAINER_DEVICE_HPP__
#define __XTRAINER_DEVICE_HPP__
 
#include "StreamingDevice.hpp"
 
#include <yarp/dev/IJoypadController.h>
#include <yarp/dev/PolyDriver.h>
 
#include <kdl/frames.hpp>
 
#include "ICartesianSolver.h"
 
namespace roboticslab
{
 
class XTrainerDevice : public StreamingDevice
{
public:
    XTrainerDevice(yarp::os::Searchable & config);
 
    bool acquireInterfaces() override;
    bool initialize(const ICartesianControl::config_map_t & params) override;
    bool acquireData() override;
    bool transformData(double scaling) override;
    ICartesianControl::Actuator getActuatorState() override;
    void sendMovementCommand(double timestamp) override;
 
private:
    yarp::dev::IJoypadController * iJoypadController {nullptr};
    ICartesianSolver * iCartesianSolver {nullptr};
    yarp::dev::PolyDriver solverDevice;
 
    std::string kinematics;
 
    std::vector<double> initialTcpOffset;
    std::vector<double> initialDeviceOffset;
 
    KDL::Frame H_base_device, H_ee_device, H_device_ee;
 
    bool buttonClose {false};
    bool buttonOpen {false};
};
 
} // namespace roboticslab
 
#endif // __XTRAINER_DEVICE_HPP__