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;
    };
} // namespace armarx::armem::server::robot_state::proprioception