exoskeleton.h

Go to the documentation of this file.

#pragma once
 
#include <iostream>
#include <vector>
#include <map>
#include <thread>
 
#include "utils.h"
#include "serial_com.h"
 
 
class Exoskeleton
{
 
public:
    Exoskeleton() {};
 
    void initialize(const std::string& serial_com, unsigned int serial_baudrate);
 
    std::vector<double> incoming_data_callback(void);
 
    std::vector<double> get_joint_angles(void);
 
private:
    const int m_meas_num = 13;
 
    std::vector<double> m_raw_sensor_data;
 
private:
 
    std::shared_ptr<SerialCOM> m_serial;
 
    std::future<std::vector<double>> m_future_fun;
 
    bool m_return_value = 0;
};