Robotics Library
0.6.2
rl
hal
ForceSensor.h
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//
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// Copyright (c) 2009, Markus Rickert
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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#ifndef _RL_HAL_FORCESENSOR_H_
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#define _RL_HAL_FORCESENSOR_H_
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#include <
rl/math/Vector.h
>
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#include "
Device.h
"
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namespace
rl
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{
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namespace
hal
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{
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class
ForceSensor
:
public
virtual
Device
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{
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public
:
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ForceSensor
();
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virtual
~ForceSensor
();
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virtual
void
getForces
(::
rl::math::Vector
& forces)
const
= 0;
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virtual ::std::size_t
getForcesCount
()
const
= 0;
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virtual ::rl::math::Real
getForcesMaximum
(const ::std::size_t& i)
const
= 0;
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virtual ::rl::math::Real
getForcesMinimum
(const ::std::size_t& i)
const
= 0;
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protected
:
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private
:
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};
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}
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}
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#endif // _RL_HAL_FORCESENSOR_H_
rl::hal::ForceSensor::getForcesCount
virtual ::std::size_t getForcesCount() const =0
rl::hal::Device
Definition:
Device.h:38
Vector.h
rl::hal::ForceSensor::getForces
virtual void getForces(::rl::math::Vector &forces) const =0
rl::hal::ForceSensor::getForcesMinimum
virtual ::rl::math::Real getForcesMinimum(const ::std::size_t &i) const =0
rl::hal::ForceSensor::~ForceSensor
virtual ~ForceSensor()
Definition:
ForceSensor.cpp:38
Device.h
rl::hal::ForceSensor::getForcesMaximum
virtual ::rl::math::Real getForcesMaximum(const ::std::size_t &i) const =0
rl::hal::ForceSensor
Definition:
ForceSensor.h:39
rl::math::Vector
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition:
Vector.h:41
rl::math::Real
double Real
Definition:
Real.h:34
rl::hal::ForceSensor::ForceSensor
ForceSensor()
Definition:
ForceSensor.cpp:33
rl
Definition:
Ati.cpp:35
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