RosSubscriberDoubleArray.hpp

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#ifndef ORG_EEROS_CONTROL_ROSSUBSCRIBER_DOUBLEARRAY_HPP
#define ORG_EEROS_CONTROL_ROSSUBSCRIBER_DOUBLEARRAY_HPP

#include <eeros/control/ros/RosSubscriber.hpp>
#include <eeros/core/System.hpp>
#include <std_msgs/Float64MultiArray.h>

namespace eeros {
    namespace control {

        template < typename SigOutType >
        class RosSubscriberDoubleArray : public RosSubscriber<std_msgs::Float64MultiArray::Type, SigOutType> {
            typedef std_msgs::Float64MultiArray::Type TRosMsg;
        public:
            RosSubscriberDoubleArray(const std::string& topic, const uint32_t queueSize=1000, const bool callNewest=false ) :
                RosSubscriber<TRosMsg, SigOutType>(topic, queueSize, callNewest){ }
                
            void rosCallbackFct(const TRosMsg& msg) {
                auto time = eeros::System::getTimeNs(); // use system time for timestamp
                this->out.getSignal().setTimestamp( time );
                std::vector<double> valTmp(msg.data.begin(), msg.data.end() );
                val.setCol(0, valTmp);
                this->out.getSignal().setValue(val);
            }
        protected:
            SigOutType val;
        };
    };
};

#endif // ORG_EEROS_CONTROL_ROSSUBSCRIBER_DOUBLEARRAY_HPP