genericsensorinterfaces.h

来自「一个语言识别引擎」· C头文件 代码 · 共 55 行

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-

/*
 * Copyright (C) 2006 Lorenzo Natale
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */

#ifndef __YARPTRACKERINTERFACES__
#define __YARPTRACKERINTERFACES__

#include <yarp/dev/DeviceDriver.h>
#include <yarp/sig/Vector.h>

/*! \file GenericSensorInterfaces.h define interfaces for a generic sensor*/

namespace yarp {
    namespace dev {
        class IGenericSensor;
    }
}

/**
 * @ingroup dev_iface_other
 *
 * A generic interface to sensors -- gyro, a/d converters etc.
 */
class yarp::dev::IGenericSensor
{
public:
    virtual ~IGenericSensor(){}

    /* Read a vector from the sensor.
     * @param out a vector containing the sensor's last readings.
     * @return true/false success/failure
     **/
    virtual bool read(yarp::sig::Vector &out)=0;
    
    /* Get the number of channels of the sensor.
     * @param nc pointer to storage, return value
     * @return true/false success/failure
     */
    virtual bool getChannels(int *nc)=0;

    /* Calibrate the sensor, single channel.
     * @param ch channel number
     * @param v reset valure
     * @return true/false success/failure
     */
    virtual bool calibrate(int ch, double v)=0;
};

#endif
//