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SixAxisForceTorqueSensor.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_HAL_FORCETORQUESENSOR_H_
31 #define _RL_HAL_FORCETORQUESENSOR_H_
32 
33 #include <rl/math/Vector.h>
34 
35 #include "ForceSensor.h"
36 #include "TorqueSensor.h"
37 
38 namespace rl
39 {
40  namespace hal
41  {
42  class SixAxisForceTorqueSensor : public virtual ForceSensor, public virtual TorqueSensor
43  {
44  public:
46 
47  virtual ~SixAxisForceTorqueSensor();
48 
49  ::std::size_t getForcesCount() const;
50 
51  ::rl::math::Real getForcesMaximum(const ::std::size_t& i) const;
52 
53  ::rl::math::Real getForcesMinimum(const ::std::size_t& i) const;
54 
58  virtual void getForcesTorques(::rl::math::Vector& forcesTorques) const = 0;
59 
63  virtual ::rl::math::Real getForcesTorquesMaximum(const ::std::size_t& i) const = 0;
64 
68  virtual ::rl::math::Real getForcesTorquesMinimum(const ::std::size_t& i) const = 0;
69 
70  ::std::size_t getTorquesCount() const;
71 
72  ::rl::math::Real getTorquesMaximum(const ::std::size_t& i) const;
73 
74  ::rl::math::Real getTorquesMinimum(const ::std::size_t& i) const;
75 
76  protected:
77 
78  private:
79 
80  };
81  }
82 }
83 
84 #endif // _RL_HAL_FORCETORQUESENSOR_H_