Imu_nwc_ros2.h

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/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IMU_NWC_ROS2_H
#define YARP_DEV_IMU_NWC_ROS2_H
 
#include "GenericSensor_nwc_ros2.h"
#include <sensor_msgs/msg/imu.hpp>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Matrix3x3.h>
 
class Imu_nwc_ros2 : public GenericSensor_nwc_ros2<sensor_msgs::msg::Imu>,
                     public yarp::dev::IThreeAxisLinearAccelerometers,
                     public yarp::dev::IThreeAxisGyroscopes,
                     public yarp::dev::IOrientationSensors
{
private:
    sensor_msgs::msg::Imu m_currentData;
 
public:
    using GenericSensor_nwc_ros2<sensor_msgs::msg::Imu>::GenericSensor_nwc_ros2;
 
    using GenericSensor_nwc_ros2<sensor_msgs::msg::Imu>::open;
    using GenericSensor_nwc_ros2<sensor_msgs::msg::Imu>::close;
 
protected:
    void subscription_callback(const std::shared_ptr<sensor_msgs::msg::Imu> msg) override;
public:
    /* IThreeAxisLinearAccelerometers methods */
    size_t getNrOfThreeAxisLinearAccelerometers() const override;
    yarp::dev::MAS_status getThreeAxisLinearAccelerometerStatus(size_t sens_index) const override;
    bool getThreeAxisLinearAccelerometerName(size_t sens_index, std::string &name) const override;
    bool getThreeAxisLinearAccelerometerFrameName(size_t sens_index, std::string &frameName) const override;
    bool getThreeAxisLinearAccelerometerMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
 
    /* IThreeAxisGyroscopes methods */
    size_t getNrOfThreeAxisGyroscopes() const override;
    yarp::dev::MAS_status getThreeAxisGyroscopeStatus(size_t sens_index) const override;
    bool getThreeAxisGyroscopeName(size_t sens_index, std::string &name) const override;
    bool getThreeAxisGyroscopeFrameName(size_t sens_index, std::string &frameName) const override;
    bool getThreeAxisGyroscopeMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const override;
 
    /* IOrientationSensors methods */
    size_t getNrOfOrientationSensors() const override;
    yarp::dev::MAS_status getOrientationSensorStatus(size_t sens_index) const override;
    bool getOrientationSensorName(size_t sens_index, std::string &name) const override;
    bool getOrientationSensorFrameName(size_t sens_index, std::string &frameName) const override;
    bool getOrientationSensorMeasureAsRollPitchYaw(size_t sens_index, yarp::sig::Vector& rpy, double& timestamp) const override;
};
 
#endif // YARP_DEV_IMU_NWC_ROS2_H