Robot Simulator of the Robotics Group for Self-Organization of Control: motor.h Source File

# motor.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef         MOTOR_H_
    00025 # define        MOTOR_H_
    00026
    00027 namespace lpzrobots {
    00028
    00029   /**
    00030       Abstact base class for attachable motors
    00031   */
    00032   class Motor{
    00033   public:
    00034     Motor() {
    00035     }
    00036     virtual ~Motor() {};
    00037
    00038     /** initialises motor with body of robot
    00039     */
    00040     virtual void init(Primitive* own)=0;
    00041
    00042     /// return the dimensionality of this motor
    00043     virtual int getMotorNumber() const =0;
    00044
    00045     /** performs the actions, This is usually called in
    00046         doInternalStuff() from the robot */
    00047     virtual bool act(GlobalData& globaldata) = 0;
    00048
    00049     /** sends the action commands to the motor.
    00050         It returns the number of used values. (should be equal to
    00051         getMotorNumber)
    00052      */
    00053     virtual int set(const motor* values, int length) = 0;
    00054   };
    00055 }
    00056
    00057 #endif      /* !MOTOR_H_ */