SensingCartesian.h
Go to the documentation of this file.00001 /* ============================================================ 00002 * 00003 * This file is a part of RCI project 00004 * 00005 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de> 00006 * 00007 * This file may be licensed under the terms of the 00008 * GNU Lesser General Public License Version 3 (the ``LGPL''), 00009 * or (at your option) any later version. 00010 * 00011 * Software distributed under the License is distributed 00012 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either 00013 * express or implied. See the LGPL for the specific language 00014 * governing rights and limitations. 00015 * 00016 * You should have received a copy of the LGPL along with this 00017 * program. If not, go to http://www.gnu.org/licenses/lgpl.html 00018 * or write to the Free Software Foundation, Inc., 00019 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00020 * 00021 * The development of this software was supported by: 00022 * CoR-Lab, Research Institute for Cognition and Robotics 00023 * Bielefeld University 00024 * 00025 * ============================================================ */ 00026 00027 #pragma once 00028 00029 #include "rci/SensingCartesianIF.h" 00030 00031 namespace rci { 00032 00038 class OrientationSensing: public OrientationSensingIF { 00039 00040 public: 00046 virtual OrientationPtr getOrientation() const; 00047 00051 virtual void updateOrientation(OrientationPtr orient); 00052 00053 protected: 00054 OrientationSensing(); 00055 virtual ~OrientationSensing(); 00056 00060 OrientationPtr orientation; 00061 00062 }; 00063 00069 class TranslationSensing: public TranslationSensingIF { 00070 00071 public: 00072 00078 virtual TranslationPtr getTranslation() const; 00079 00083 virtual void updateTranslation(TranslationPtr translat); 00084 00085 protected: 00086 TranslationSensing(); 00087 virtual ~TranslationSensing(); 00088 00092 TranslationPtr translation; 00093 00094 }; 00095 00101 class PoseSensing: public PoseSensingIF, 00102 public TranslationSensing, 00103 public OrientationSensing { 00104 00105 public: 00111 virtual PosePtr getPose() const; 00112 00116 virtual void updatePose(PosePtr pose); 00117 00121 virtual void updatePose(TranslationPtr transl, OrientationPtr orient); 00122 00123 protected: 00124 PoseSensing(); 00125 virtual ~PoseSensing(); 00126 }; 00127 00137 class TranslationalVelocitySensing: public TranslationalVelocitySensingIF { 00138 00139 public: 00140 00146 virtual TranslationalVelocityPtr getTranslationalVelocity() const; 00147 00155 virtual void updateTranslationalVelocity(TranslationalVelocityPtr tvel); 00156 00157 protected: 00158 TranslationalVelocitySensing(); 00159 virtual ~TranslationalVelocitySensing(); 00160 00164 TranslationalVelocityPtr veltranslational; 00165 00166 }; 00167 00175 class RotationalVelocitySensing: public RotationalVelocitySensingIF { 00176 00177 public: 00178 00184 virtual RotationalVelocityPtr getRotationalVelocity() const; 00185 00193 virtual void updateRotationalVelocity(RotationalVelocityPtr rvel); 00194 00195 protected: 00196 RotationalVelocitySensing(); 00197 virtual ~RotationalVelocitySensing(); 00198 00202 RotationalVelocityPtr velrotational; 00203 00204 }; 00205 00213 class CartesianVelocitySensing: public CartesianVelocitySensingIF, 00214 public TranslationalVelocitySensing, 00215 public RotationalVelocitySensing { 00216 00217 public: 00218 00227 virtual void updateVelocity(TranslationalVelocityPtr transvel, 00228 RotationalVelocityPtr rotvel); 00229 00230 virtual VelocityPtr getVelocity(); 00231 00232 protected: 00233 CartesianVelocitySensing(); 00234 virtual ~CartesianVelocitySensing(); 00235 00236 }; 00237 00247 class TranslationalAccelerationSensing: public TranslationalAccelerationSensingIF { 00248 00249 public: 00250 00256 virtual TranslationalAccelerationPtr getTranslationalAcceleration() const; 00257 00265 virtual void updateTranslationalAcceleration( 00266 TranslationalAccelerationPtr tacc); 00267 00268 protected: 00269 TranslationalAccelerationSensing(); 00270 virtual ~TranslationalAccelerationSensing(); 00271 00275 TranslationalAccelerationPtr acctranslational; 00276 00277 }; 00278 00286 class RotationalAccelerationSensing: public RotationalAccelerationSensingIF { 00287 00288 public: 00289 00295 virtual RotationalAccelerationPtr getRotationalAcceleration() const; 00296 00304 virtual void updateRotationalAcceleration(RotationalAccelerationPtr racc); 00305 00306 protected: 00307 RotationalAccelerationSensing(); 00308 virtual ~RotationalAccelerationSensing(); 00309 00313 RotationalAccelerationPtr accrotational; 00314 00315 }; 00316 00324 class CartesianAccelerationSensing: public CartesianAccelerationSensingIF, 00325 public TranslationalAccelerationSensing, 00326 public RotationalAccelerationSensing { 00327 00328 public: 00329 00338 virtual void updateAcceleration(TranslationalAccelerationPtr transacc, 00339 RotationalAccelerationPtr rotacc); 00340 00341 virtual AccelerationPtr getAcceleration(); 00342 00343 protected: 00344 CartesianAccelerationSensing(); 00345 virtual ~CartesianAccelerationSensing(); 00346 00347 }; 00348 00349 }
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