SensingCartesianIF.h

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/* ============================================================
 *
 * This file is a part of RCI project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <cca/dto/DataTransferObject.h>

#include "rci/dto/CartesianPose.h"
#include "rci/dto/CartesianVelocity.h"
#include "rci/dto/CartesianAcceleration.h"

namespace rci {

class OrientationSensingIF {

public:
    virtual OrientationPtr getOrientation() const = 0;

    virtual void updateOrientation(OrientationPtr orient) = 0;

protected:
    ~OrientationSensingIF() {
    }
};

class TranslationSensingIF {

public:

    virtual TranslationPtr getTranslation() const = 0;

    virtual void updateTranslation(TranslationPtr translat) = 0;

protected:
    ~TranslationSensingIF() {
    }
};

class PoseSensingIF {

public:
    virtual PosePtr getPose() const = 0;

    virtual void updatePose(PosePtr pose) = 0;

    virtual void updatePose(TranslationPtr transl, OrientationPtr orient) = 0;

protected:
    ~PoseSensingIF() {
    }
};

class TranslationalVelocitySensingIF {

public:

    virtual TranslationalVelocityPtr getTranslationalVelocity() const = 0;

    virtual void updateTranslationalVelocity(TranslationalVelocityPtr tvel) = 0;

protected:
    ~TranslationalVelocitySensingIF() {
    }
};

class RotationalVelocitySensingIF {

public:

    virtual RotationalVelocityPtr getRotationalVelocity() const = 0;

    virtual void updateRotationalVelocity(RotationalVelocityPtr rvel) = 0;

protected:
    ~RotationalVelocitySensingIF() {
    }
};

class CartesianVelocitySensingIF {

public:

    virtual void updateVelocity(TranslationalVelocityPtr transvel,
            RotationalVelocityPtr rotvel) = 0;

    virtual VelocityPtr getVelocity() = 0;

protected:
    ~CartesianVelocitySensingIF() {
    }

};

class TranslationalAccelerationSensingIF {

public:

    virtual TranslationalAccelerationPtr getTranslationalAcceleration() const = 0;

    virtual void updateTranslationalAcceleration(
            TranslationalAccelerationPtr tacc) = 0;

protected:
    ~TranslationalAccelerationSensingIF() {
    }
};

class RotationalAccelerationSensingIF {

public:

    virtual RotationalAccelerationPtr getRotationalAcceleration() const = 0;

    virtual void updateRotationalAcceleration(
            RotationalAccelerationPtr racc) = 0;

protected:
    ~RotationalAccelerationSensingIF() {
    }
};

class CartesianAccelerationSensingIF {

public:

    virtual void updateAcceleration(TranslationalAccelerationPtr transacc,
            RotationalAccelerationPtr rotacc) = 0;

    virtual AccelerationPtr getAcceleration() = 0;

protected:
    ~CartesianAccelerationSensingIF() {
    }

};

}