Revision 35b3ca25 examples/yarp_icub/include/icub_data_receiver.h

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examples/yarp_icub/include/icub_data_receiver.h
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class iCubDataReceiver : public yarp::os::RateThread{


  		




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public:


  		




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    iCubDataReceiver(int period, yarp::dev::IEncodersTimed *_iencs, iCubJointInterface *_icub_jointinterface);


  		




  
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    iCubDataReceiver(int period, iCubJointInterface *icub_jointinterface);


  		




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    bool threadInit();


  		




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    void threadRelease();


  		




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    void run();


  		




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private:


  		




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    double get_timestamp_ms();


  		




  
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    void store_incoming_position(int icub_id, double value, double timestamp);


  		




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    yarp::sig::Vector positions;


  		




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    yarp::sig::Vector velocities;


  		




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    yarp::sig::Vector commands;


  		




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    yarp::sig::Vector timestamps;


  		




  
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    float target_eye_pan_;


  		




  
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    float target_eye_vergence_;


  		




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    yarp::dev::IEncodersTimed *iencs;


  		




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    iCubJointInterface *icub_jointinterface;


  		




  
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    yarp::sig::Vector yarp_positions_;


  		




  
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    yarp::sig::Vector yarp_commands_;


  		




  
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    yarp::sig::Vector yarp_timestamps_;


  		




  
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    iCubJointInterface *icub_jointinterface_;


  		




  
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    yarp::dev::IEncodersTimed *yarp_iencs_;


  		




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};


  		




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