sas_force_sensor_client.hpp

#pragma once
/*
# Copyright (c) 2020-2026 Murilo Marques Marinho
#
#    This file is part of sas_force_sensor.
#
#    sas_force_sensor is free software: you can redistribute it and/or modify
#    it under the terms of the GNU Lesser General Public License as published by
#    the Free Software Foundation, either version 3 of the License, or
#    (at your option) any later version.
#
#    sas_force_sensor is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU Lesser General Public License for more details.
#
#    You should have received a copy of the GNU Lesser General Public License
#    along with sas_force_sensor.  If not, see <https://www.gnu.org/licenses/>.
#
# ################################################################
#
#   Author: Murilo M. Marinho, email: murilomarinho@ieee.org
#
# ################################################################*/
 
#include <atomic>
 
#include <dqrobotics/DQ.h>
 
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/wrench_stamped.hpp>
#include <sas_core/sas_object.hpp>
 
using namespace DQ_robotics;
 
namespace sas
{
class ForceSensorClient: private sas::Object
{
private:
    std::shared_ptr<rclcpp::Node> node_;
 
    std::atomic_bool enabled_;
    const std::string topic_prefix_;
 
    rclcpp::Subscription<geometry_msgs::msg::WrenchStamped>::SharedPtr subscriber_wrench_;
    DQ force_;
    DQ torque_;
 
    void _callback_wrench(const geometry_msgs::msg::WrenchStamped& msg);
public:
    ForceSensorClient() = delete;
    ForceSensorClient(const ForceSensorClient&) = delete;

    ForceSensorClient(const std::shared_ptr<rclcpp::Node>& node, const std::string& topic_prefix="GET_FROM_NODE");

    bool is_enabled() const;

    DQ get_force() const;

    DQ get_torque() const;

    std::string get_topic_prefix() const;
};
 
}