add enum value to stop the thumper haptic feedback for SenseGlove

modules/HapticGlove_module/include/GloveWearable.hpp

@@ -20,12 +20,55 @@
 #include <yarp/os/BufferedPort.h>
 #include <yarp/os/Searchable.h>
 
+template <typename E> constexpr typename std::underlying_type<E>::type to_underlying(E e) noexcept
+{
+    return static_cast<typename std::underlying_type<E>::type>(e);
+}
+
 using namespace yarp::os;
 namespace HapticGlove
 {
 class GloveWearableImpl;
+namespace SenseGlove
+{
+enum class ThumperCmd : unsigned int;
+} // namespace SenseGlove
 } // namespace HapticGlove
 
+enum class HapticGlove::SenseGlove::ThumperCmd : unsigned int
+{
+    None = 126,
+
+    /// <summary> Turn off the thumper effects. </summary>
+    TurnOff = 124,
+
+    /// <summary> A 5-second long, constant vibration. </summary>
+    Cue_Game_Over = 118,
+
+    /// <summary> A double-click at 100% intensity. </summary>
+    Button_Double_100 = 10,
+    /// <summary> A double click at 60% intensity. </summary>
+    Button_Double_60 = 11,
+
+    /// <summary> Simulates an impact of the hand at 100% intensity. </summary>
+    Impact_Thump_100 = 1,
+    /// <summary> Simulates an impact of the hand at 30% intensity. </summary>
+    Impact_Thump_30 = 3,
+    /// <summary> Simulates an sharp impact of the hand at 40% intensity.
+    /// </summary>
+    Impact_Thump_10 = 6,
+
+    /// <summary> A light vibration to cue the user that an object it picked up.
+    /// 100% intensity. </summary>
+    Object_Grasp_100 = 7,
+    /// <summary> A light vibration to cue the user that an object it picked up.
+    /// 60% intensity. </summary>
+    Object_Grasp_60 = 8,
+    /// <summary> A light vibration to cue the user that an object it picked up.
+    /// 30% intensity. </summary>
+    Object_Grasp_30 = 9
+};
+
 /**
  * GloveWearableImpl is a class for interfacing with the haptic glove using the wearable interface.
  */

modules/HapticGlove_module/src/GloveControlHelper.cpp

@@ -158,8 +158,9 @@ bool GloveControlHelper::setFingertipVibrotactileFeedbackReferences(
 }
 bool GloveControlHelper::stopPalmVibrotactileFeedback()
 {
-    return m_pImp->setPalmVibrotactileValue(
-        124); // to turn off set `124`, for more details check the documentation.
+    return m_pImp->setPalmVibrotactileValue(to_underlying(
+        HapticGlove::SenseGlove::ThumperCmd::TurnOff)); // to turn off set `124`, for more details
+                                                        // check the documentation.
 }
 
 bool GloveControlHelper::stopVibrotactileFeedback()