humotion / examples / yarp_icub / include / icub_data_receiver.h @ 5d29c83f
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#pragma once
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#include <humotion/server/joint_interface.h> |
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#include <boost/bimap.hpp> |
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#include <yarp/dev/PolyDriver.h> |
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#include <yarp/dev/IControlLimits2.h> |
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#include <yarp/dev/ControlBoardInterfaces.h> |
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#include <yarp/os/Time.h> |
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#include <yarp/sig/Vector.h> |
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#include "icub_jointinterface.h" |
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#include <humotion/server/server.h> |
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#include <yarp/os/Network.h> |
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#include <yarp/os/RateThread.h> |
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#include <yarp/os/Time.h> |
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#include <yarp/os/Property.h> |
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#include <yarp/dev/ControlBoardInterfaces.h> |
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#include "icub_jointinterface.h" |
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//forward declaration to solve loop
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class iCubJointInterface; |
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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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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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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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yarp::dev::IEncodersTimed *iencs; |
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iCubJointInterface *icub_jointinterface; |
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}; |
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