SensingCartesian.h

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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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