hardwareSensorMocap.hpp

#ifndef HARDWARE_SENSOR_MOCAP_HPP_
#define HARDWARE_SENSOR_MOCAP_HPP_

#include <stdlib.h>
#include <unistd.h>

#include <jafarConfig.h>
#include "kernel/jafarMacro.hpp"
#include "rtslam/hardwareSensorAbstract.hpp"

namespace jafar {
namespace rtslam {
namespace hardware {


class HardwareSensorMocap: public HardwareSensorProprioAbstract
{
  private:
    boost::thread *preloadTask_thread;
    void preloadTask(void);
    
    std::string dump_path;
    double last_timestamp;
    kernel::LoggerTask *loggerTask;
    
  public:
    HardwareSensorMocap(kernel::VariableCondition<int> *condition, unsigned bufferSize, Mode mode = mOnline, std::string dump_path = ".", kernel::LoggerTask *loggerTask = NULL);
    
    virtual void start();
    virtual void stop();
    virtual bool join(int timed_ms = -1);
    virtual double getLastTimestamp() { boost::unique_lock<boost::mutex> l(mutex_data); return last_timestamp; }
    
    jblas::ind_array instantValues() { return jmath::ublasExtra::ia_set(1,7); }
    jblas::ind_array incrementValues() { return jmath::ublasExtra::ia_set(1,1); }
};


}}}

#endif // HARDWARE_SENSOR_MOCAP_HPP_