FakeOdometry2D.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_FAKEODOMETRY2D_H
#define YARP_FAKEODOMETRY2D_H
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IOdometry2D.h>
 
#include "FakeOdometry2D_ParamsParser.h"
 
constexpr double default_period = 0.02;
 
class FakeOdometry2D :
        public yarp::os::PeriodicThread,
        public yarp::dev::DeviceDriver,
        public yarp::dev::Nav2D::IOdometry2D,
        public FakeOdometry2D_ParamsParser
{
public:
    FakeOdometry2D();
 
    // PeriodicThread
    virtual bool threadInit() override;
    virtual void threadRelease() override;
    virtual void run() override;
 
    // DeviceDriver
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    // IOdometry2D
    yarp::dev::ReturnValue   getOdometry(yarp::dev::OdometryData& odom, double* timestamp=nullptr) override;
    yarp::dev::ReturnValue   resetOdometry() override;
 
private:
    yarp::dev::OdometryData m_odometryData;
 
    std::mutex m_odometry_mutex;
    double m_period;
    double m_timestamp=0;
};
 
#endif // YARP_FAKEODOMETRY2D_H