Sensing.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 "SensingIF.h"

namespace rci {

class Sensing: public SensingIF {

public:

    virtual void update();

    virtual cca::DataTransferObjectPtr get() const;

protected:
    Sensing();
    virtual ~Sensing();
};

class PositionSensing: public PositionSensingIF {

public:
    virtual JointAnglesPtr getJointPosition() const;

    virtual void updateJointPosition(JointAnglesPtr angle);

protected:
    PositionSensing(unsigned int dimension = 1);
    virtual ~PositionSensing();

    JointAnglesPtr _latestJointPosition;
};

class VelocitySensing: public VelocitySensingIF {

public:
    virtual JointVelocitiesPtr getVelocity() const;

    virtual void updateJointVelocity(JointVelocitiesPtr vel);

protected:
    VelocitySensing(unsigned int dimension = 1);
    virtual ~VelocitySensing();

    JointVelocitiesPtr _latestJointVelocity;
};

class PressureSensing: public PressureSensingIF {

public:
    virtual PressurePtr getPressure() const;

protected:
    PressureSensing(unsigned int dimension = 1);
    virtual ~PressureSensing();

    PressurePtr _latestPressureValues;
};

class LengthSensing: public LengthSensingIF {

public:
    virtual LengthPtr getLength() const;

protected:
    LengthSensing(unsigned int dimension = 1);
    virtual ~LengthSensing();

    LengthPtr _latestLengthValues;
};

class ForceSensing: public ForceSensingIF {

public:
    virtual ForcesPtr getForces() const;

    virtual void updateForces(ForcesPtr force);

protected:
    ForceSensing();
    virtual ~ForceSensing();

    ForcesPtr forces;
};

class TorqueSensing: public TorqueSensingIF {

public:
    virtual JointTorquesPtr getTorque() const;

    virtual void updateTorque(JointTorquesPtr torque);

protected:
    TorqueSensing(unsigned int dimension = 1);
    virtual ~TorqueSensing();

    JointTorquesPtr torques;
};

class PowerSensing: public PowerSensingIF {

public:
    virtual PowerPtr getPower() const;

protected:
    PowerSensing(unsigned int dimension = 1);
    virtual ~PowerSensing();

    PowerPtr power;
};

}