WrenchStamped_nws_ros2.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_WRENCHSTAMPED_NWS_ROS2_H
#define YARP_DEV_WRENCHSTAMPED_NWS_ROS2_H
 
#include "GenericSensor_nws_ros2.h"
#include <geometry_msgs/msg/wrench_stamped.hpp>
 
class WrenchStamped_nws_ros2 : public GenericSensor_nws_ros2<geometry_msgs::msg::WrenchStamped>
{
    // Interface of the wrapped device
    yarp::dev::ISixAxisForceTorqueSensors* m_iFTsens{ nullptr };
 
public:
    using GenericSensor_nws_ros2<geometry_msgs::msg::WrenchStamped>::GenericSensor_nws_ros2;
 
    using GenericSensor_nws_ros2<geometry_msgs::msg::WrenchStamped>::open;
    using GenericSensor_nws_ros2<geometry_msgs::msg::WrenchStamped>::close;
    using GenericSensor_nws_ros2<geometry_msgs::msg::WrenchStamped>::attachAll;
    using GenericSensor_nws_ros2<geometry_msgs::msg::WrenchStamped>::detachAll;
 
    /* PeriodicRateThread methods */
    void run() override;
 
protected:
    bool viewInterfaces() override;
};
 
#endif