Robotics Library  0.7.0
TorqueSensor.h
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2 // Copyright (c) 2009, Markus Rickert
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26 
27 #ifndef RL_HAL_TORQUESENSOR_H
28 #define RL_HAL_TORQUESENSOR_H
29 
30 #include <rl/math/Vector.h>
31 
32 #include "Device.h"
33 
34 namespace rl
35 {
36  namespace hal
37  {
38  class TorqueSensor : public virtual Device
39  {
40  public:
41  TorqueSensor();
42 
43  virtual ~TorqueSensor();
44 
49 
50  virtual ::std::size_t getTorquesCount() const = 0;
51 
55  virtual ::rl::math::Real getTorquesMaximum(const ::std::size_t& i) const = 0;
56 
60  virtual ::rl::math::Real getTorquesMinimum(const ::std::size_t& i) const = 0;
61 
62  protected:
63 
64  private:
65 
66  };
67  }
68 }
69 
70 #endif // RL_HAL_TORQUESENSOR_H
rl::hal::TorqueSensor::getTorquesMaximum
virtual ::rl::math::Real getTorquesMaximum(const ::std::size_t &i) const =0
rl::hal::TorqueSensor::getTorquesMinimum
virtual ::rl::math::Real getTorquesMinimum(const ::std::size_t &i) const =0
rl::hal::Device
Definition: Device.h:41
rl::hal::TorqueSensor::~TorqueSensor
virtual ~TorqueSensor()
Definition: TorqueSensor.cpp:38
rl::math::Vector
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:42
Vector.h
Device.h
rl::hal::TorqueSensor
Definition: TorqueSensor.h:39
rl::hal::TorqueSensor::TorqueSensor
TorqueSensor()
Definition: TorqueSensor.cpp:33
rl::math::Real
double Real
Definition: Real.h:42
rl::hal::TorqueSensor::getTorquesCount
virtual ::std::size_t getTorquesCount() const =0
rl::hal::TorqueSensor::getTorques
virtual ::rl::math::Vector getTorques() const =0
rl
Robotics Library.
Definition: AnalogInput.cpp:30