pose_tracker_client.hpp

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#pragma once
 
#include <grpcpp/channel.h>
 
#include <viam/api/component/posetracker/v1/pose_tracker.grpc.pb.h>
 
#include <viam/sdk/components/pose_tracker.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class PoseTrackerClient : public PoseTracker {
   public:
    using interface_type = PoseTracker;
 
    PoseTrackerClient(std::string name, std::shared_ptr<grpc::Channel> channel);
 
    PoseTracker::pose_map get_poses(const std::vector<std::string>& body_names,
                                    const ProtoStruct& extra) override;
 
    ProtoStruct do_command(const ProtoStruct& command) override;
 
    std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
 
    using PoseTracker::get_geometries;
    using PoseTracker::get_poses;
 
   private:
    using StubType = viam::component::posetracker::v1::PoseTrackerService::StubInterface;
    std::unique_ptr<StubType> stub_;
    std::shared_ptr<grpc::Channel> channel_;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam