pose_tracker.hpp

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#pragma once
 
#include <string>
#include <unordered_map>
#include <vector>
 
#include <viam/api/common/v1/common.pb.h>
#include <viam/api/component/posetracker/v1/pose_tracker.pb.h>
 
#include <viam/sdk/common/pose.hpp>
#include <viam/sdk/components/component.hpp>
#include <viam/sdk/spatialmath/geometry.hpp>
 
namespace viam {
namespace sdk {
 
 
class PoseTracker : public Component {
   public:
    using pose_map = std::unordered_map<std::string, pose_in_frame>;
 
    API api() const override;
 
    inline pose_map get_poses(const std::vector<std::string>& body_names) {
        return get_poses(body_names, {});
    }
 
    virtual pose_map get_poses(const std::vector<std::string>& body_names,
                               const ProtoStruct& extra) = 0;
 
    virtual ProtoStruct do_command(const ProtoStruct& command) = 0;
 
    inline std::vector<GeometryConfig> get_geometries() {
        return get_geometries({});
    }
 
    virtual std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) = 0;
 
   protected:
    using Component::Component;
};
 
template <>
struct API::traits<PoseTracker> {
    static API api();
};
 
}  // namespace sdk
}  // namespace viam