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/* |
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* Copyright 2011, |
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* Olivier Stasse, CNRS |
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* |
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* CNRS |
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* |
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*/ |
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#ifndef ABSTRACT_SOT_EXTERNAL_INTERFACE_HH |
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#define ABSTRACT_SOT_EXTERNAL_INTERFACE_HH |
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#include <map> |
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#include <sot/core/api.hh> |
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#include <string> |
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#include <vector> |
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namespace dynamicgraph { |
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namespace sot { |
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class SOT_CORE_EXPORT NamedVector { |
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private: |
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std::string name_; |
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std::vector<double> values_; |
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public: |
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NamedVector() {} |
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~NamedVector() {} |
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const std::string &getName() const { return name_; } |
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void setName(const std::string &aname) { name_ = aname; } |
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const std::vector<double> &getValues() const { return values_; } |
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void setValues(const std::vector<double> &values) { values_ = values; } |
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}; |
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typedef NamedVector SensorValues; |
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typedef NamedVector ControlValues; |
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class SOT_CORE_EXPORT AbstractSotExternalInterface { |
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public: |
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AbstractSotExternalInterface() {} |
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virtual ~AbstractSotExternalInterface() {} |
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virtual void setupSetSensors( |
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std::map<std::string, SensorValues> &sensorsIn) = 0; |
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virtual void nominalSetSensors( |
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std::map<std::string, SensorValues> &sensorsIn) = 0; |
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virtual void cleanupSetSensors( |
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std::map<std::string, SensorValues> &sensorsIn) = 0; |
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virtual void getControl(std::map<std::string, ControlValues> &) = 0; |
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virtual void setSecondOrderIntegration(void) = 0; |
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virtual void setNoIntegration(void) = 0; |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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typedef dynamicgraph::sot::AbstractSotExternalInterface * |
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createSotExternalInterface_t(); |
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typedef void destroySotExternalInterface_t( |
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dynamicgraph::sot::AbstractSotExternalInterface *); |
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#endif // ABSTRACT_SOT_EXTERNAL_INTERFACE_HH |