movement_sensor_client.hpp

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#pragma once
 
#include <viam/api/component/movementsensor/v1/movementsensor.grpc.pb.h>
 
#include <viam/sdk/common/linear_algebra.hpp>
#include <viam/sdk/components/movement_sensor.hpp>
#include <viam/sdk/components/private/movement_sensor_server.hpp>
#include <viam/sdk/config/resource.hpp>
#include <viam/sdk/robot/client.hpp>
#include <viam/sdk/rpc/dial.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class MovementSensorClient : public MovementSensor {
   public:
    using interface_type = MovementSensor;
    MovementSensorClient(std::string name, const ViamChannel& channel);
 
    const ViamChannel& channel() const {
        return *channel_;
    }
    Vector3 get_linear_velocity(const ProtoStruct& extra) override;
    Vector3 get_angular_velocity(const ProtoStruct& extra) override;
    compassheading get_compass_heading(const ProtoStruct& extra) override;
    orientation get_orientation(const ProtoStruct& extra) override;
    position get_position(const ProtoStruct& extra) override;
    properties get_properties(const ProtoStruct& extra) override;
    std::unordered_map<std::string, float> get_accuracy(const ProtoStruct& extra) override;
    Vector3 get_linear_acceleration(const ProtoStruct& extra) override;
    ProtoStruct do_command(const ProtoStruct& command) override;
    std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
 
    using MovementSensor::get_accuracy;
    using MovementSensor::get_angular_velocity;
    using MovementSensor::get_compass_heading;
    using MovementSensor::get_geometries;
    using MovementSensor::get_linear_acceleration;
    using MovementSensor::get_linear_velocity;
    using MovementSensor::get_orientation;
    using MovementSensor::get_position;
    using MovementSensor::get_properties;
 
   private:
    using StubType = viam::component::movementsensor::v1::MovementSensorService::StubInterface;
    std::unique_ptr<StubType> stub_;
    const ViamChannel* channel_;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam