ControlBoardStateToIPosition.hpp

#ifndef __CONTROL_BOARD_STATE_TO_I_POSITION_HPP__
#define __CONTROL_BOARD_STATE_TO_I_POSITION_HPP__
 
#include <vector>
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/RFModule.h>
 
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IControlMode.h>
#include <yarp/dev/IEncoders.h>
#include <yarp/dev/IPositionDirect.h>
 
namespace roboticslab
{
 
class ControlBoardStateToIPosition : public yarp::os::RFModule,
                                     public yarp::os::PeriodicThread
{
public:
 
    ControlBoardStateToIPosition()
        : yarp::os::PeriodicThread(1.0, yarp::os::PeriodicThreadClock::Absolute)
    {}
 
    bool configure(yarp::os::ResourceFinder &rf) override;
 
    bool close() override;
 
    bool updateModule() override;
 
    void run() override;
 
private:
 
    std::vector< double > encPoss;
 
    // In and out devices
    yarp::dev::PolyDriver inRobotDevice;
    yarp::dev::PolyDriver outRobotDevice;
 
    // In interfaces
    yarp::dev::IEncoders *iEncodersIn;
 
    // Out interfaces
    yarp::dev::IControlMode *iControlModeOut;
    yarp::dev::IPositionDirect *iPositionDirectOut;
};
 
}
 
#endif // __CONTROL_BOARD_STATE_TO_I_POSITION_HPP__