SensingIF.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 "SensingCartesian.h"

#include "rci/dto/JointAngles.h"
#include "rci/dto/JointVelocities.h"
#include "rci/dto/CartesianForces.h"
#include "rci/dto/Pressure.h"
#include "rci/dto/Length.h"
#include "rci/dto/JointTorques.h"
#include "rci/dto/Power.h"

namespace rci {

class SensingIF {

public:

    virtual void update() =0;

    virtual cca::DataTransferObjectPtr get() const =0;

protected:
    ~SensingIF() {
    }
};

class PositionSensingIF {

public:
    virtual JointAnglesPtr getJointPosition() const = 0;

    virtual void updateJointPosition(JointAnglesPtr angle) =0;

protected:
    ~PositionSensingIF() {
    }
};

class VelocitySensingIF {

public:
    virtual JointVelocitiesPtr getVelocity() const = 0;

    virtual void updateJointVelocity(JointVelocitiesPtr vel)=0;

protected:
    ~VelocitySensingIF() {
    }
};

class PressureSensingIF {

public:
    virtual PressurePtr getPressure() const =0;

protected:
    ~PressureSensingIF() {
    }
};

class LengthSensingIF {

public:
    virtual LengthPtr getLength() const =0;

protected:
    ~LengthSensingIF() {
    }
};

class ForceSensingIF {

public:
    virtual ForcesPtr getForces() const =0;

    virtual void updateForces(ForcesPtr force)=0;

protected:
    ~ForceSensingIF() {
    }
};

class TorqueSensingIF {

public:
    virtual JointTorquesPtr getTorque() const =0;

    virtual void updateTorque(JointTorquesPtr torque) =0;

protected:
    ~TorqueSensingIF() {
    }
};

class PowerSensingIF {

public:
    virtual PowerPtr getPower() const = 0;

protected:
    ~PowerSensingIF() {
    }
};

}