EncoderRead.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __ENCODER_READ_HPP__
#define __ENCODER_READ_HPP__
 
#include <cstdint>
 
#include <mutex>
 
#include <yarp/os/Stamp.h>
 
namespace roboticslab
{
 
class EncoderRead
{
public:
    EncoderRead(double samplingPeriod);
 
    void update(std::int32_t newPos);
 
    void reset(std::int32_t pos = 0);
 
    std::int32_t queryPosition() const;
 
    double querySpeed() const;
 
    double queryAcceleration() const;
 
    double queryTime() const;
 
private:
    const double samplingFreq; // samples per second
    std::int32_t lastPosition;
    double lastSpeed;
    double lastAcceleration;
    yarp::os::Stamp lastStamp;
    mutable std::mutex encoderMutex;
};
 
} // namespace roboticslab
 
#endif // __ENCODER_READ_HPP__