Client device for ServerInertial

[traversaro]

The yarp devices permit to access a remote device on a computer across the network using a pair of devices : the wrapper is attached to the remote wrapped device and is used to expose the device functionality over a set of yarp ports , while the client is used to connect to the wrapper and provide the same C++ interface of the original device, see http://www.yarp.it/note_devices.html .

We have instantiations of this pattern for:

• ControlBoards devices :
  • wrapped : CanBusMotionControl , embObjMotionControl
  • wrapper : ControlBoardWrapper
  • client : RemoteControlBoard
• Analog (i.e. sensor publishing a vector of floating point numbers):
  • wrapped : CanBusAnalogSensor , embObjAnalogSensor
  • wrapper : AnalogWrapper
  • client : AnalogSensorClient
• Inertial Measurement Units-like devices (implementing IGenericSensor interface) :
  • wrapped : XSensMTx
  • wrapper : ServerInertial
  • client : ?

My question is: does a client device that connects to ports opened by a ServerInertial exists?
@barbalberto

[barbalberto]

Yes, it is missing since ever. Right now AnalogSensorClient can be used for this purpose.
When I've free time, I'd like to fix this type of dis-homogeneity and this one is in the list since long.
IMHO for this device it would be also better to define a structured type instead of simply an array of data, just to easily distinguish between acceleration, Euler angles and so on.

[pattacini]

@barbalberto if you want to take on this development I think it'd be worth tracking it with proper tickets on the corresponding repositories.
Closing.