Robotics Library  0.7.0
ForceSensor.h
Go to the documentation of this file.
1 //
2 // Copyright (c) 2009, Markus Rickert
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 //
14 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
15 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
16 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
17 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
18 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
19 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
20 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
21 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
22 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
23 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
24 // POSSIBILITY OF SUCH DAMAGE.
25 //
26 
27 #ifndef RL_HAL_FORCESENSOR_H
28 #define RL_HAL_FORCESENSOR_H
29 
30 #include <rl/math/Vector.h>
31 
32 #include "Device.h"
33 
34 namespace rl
35 {
36  namespace hal
37  {
38  class ForceSensor : public virtual Device
39  {
40  public:
41  ForceSensor();
42 
43  virtual ~ForceSensor();
44 
49 
50  virtual ::std::size_t getForcesCount() const = 0;
51 
55  virtual ::rl::math::Real getForcesMaximum(const ::std::size_t& i) const = 0;
56 
60  virtual ::rl::math::Real getForcesMinimum(const ::std::size_t& i) const = 0;
61 
62  protected:
63 
64  private:
65 
66  };
67  }
68 }
69 
70 #endif // RL_HAL_FORCESENSOR_H
rl::hal::ForceSensor::getForcesCount
virtual ::std::size_t getForcesCount() const =0
rl::hal::Device
Definition: Device.h:41
rl::math::Vector
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:42
Vector.h
rl::hal::ForceSensor::getForcesMinimum
virtual ::rl::math::Real getForcesMinimum(const ::std::size_t &i) const =0
rl::hal::ForceSensor::getForces
virtual ::rl::math::Vector getForces() 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::Real
double Real
Definition: Real.h:42
rl::hal::ForceSensor::ForceSensor
ForceSensor()
Definition: ForceSensor.cpp:33
rl
Robotics Library.
Definition: AnalogInput.cpp:30