Armar6Converter.h

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#pragma once
 
#include <map>
#include <string>
 
#include <Eigen/Core>
 
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 
#include "ConverterInterface.h"
 
 
 
namespace armarx::armem::server::robot_state::proprioception
{
    struct ConverterValue;
    class ConverterTools;
 
 
    class Armar6Converter : public ConverterInterface
    {
    public:
 
        Armar6Converter();
        virtual ~Armar6Converter() override;
 
 
        aron::data::DictPtr
        convert(
            const RobotUnitDataStreaming::TimeStep& data,
            const RobotUnitDataStreaming::DataStreamingDescription& description) override;
 
 
    protected:
 
        void process(arondto::Proprioception& dto, const std::string& entryName, const ConverterValue& value);
 
 
 
    private:
 
        void processPlatformEntry(
            prop::arondto::Platform& dto,
            const std::string& fieldName,
            const ConverterValue& value);
 
        void processForceTorqueEntry(
            std::map<std::string, prop::arondto::ForceTorque>& fts,
            const std::vector<std::string>& split,
            const ConverterValue& value);
 
        void processForceTorqueEntry(
            prop::arondto::ForceTorque& ft,
            const std::vector<std::string>& split,
            const ConverterValue& value);
 
        bool processJointEntry(
            prop::arondto::Joints& dto,
            const std::vector<std::string>& split,
            const ConverterValue& value);
 
 
    private:
 
        std::unique_ptr<ConverterTools> tools;
 
    };
}