WrenchStampedRosPublisher.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
 
#ifndef YARP_DEV_WRENCHROSPUBLISHER_H
#define YARP_DEV_WRENCHROSPUBLISHER_H
 
#include "GenericSensorRosPublisher.h"
#include <yarp/rosmsg/geometry_msgs/WrenchStamped.h>
 
class WrenchStampedRosPublisher : public GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::WrenchStamped>
{
    // Interface of the wrapped device
    yarp::dev::ISixAxisForceTorqueSensors* m_iFTsens{ nullptr };
 
public:
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::WrenchStamped>::GenericSensorRosPublisher;
 
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::WrenchStamped>::open;
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::WrenchStamped>::close;
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::WrenchStamped>::attachAll;
    using GenericSensorRosPublisher<yarp::rosmsg::geometry_msgs::WrenchStamped>::detachAll;
 
    /* PeriodicRateThread methods */
    void run() override;
 
protected:
    bool viewInterfaces() override;
};
 
#endif