PoseStampedRosPublisher.h

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/*
 * SPDX-FileCopyrightText: 2006-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
 
#ifndef YARP_DEV_POSEROSPUBLISHER_H
#define YARP_DEV_POSEROSPUBLISHER_H
 
#include "GenericSensorRosPublisher.h"
#include <yarp/rosmsg/geometry_msgs/PoseStamped.h>
 
class PoseStampedRosPublisher : public GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::PoseStamped>
{
    // Interface of the wrapped device
    yarp::dev::IOrientationSensors* m_iOrientationSensors{ nullptr };
    yarp::dev::IPositionSensors*    m_iPositionSensors {nullptr};
 
public:
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::PoseStamped>::GenericSensorRosPublisher;
 
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::PoseStamped>::open;
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::PoseStamped>::close;
 
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::PoseStamped>::attachAll;
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::PoseStamped>::detachAll;
 
    /* PeriodicRateThread methods */
    void run() override;
 
protected:
    bool viewInterfaces() override;
};
 
#endif