SixAxisForceTorqueSensor.h

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