Robotsystem of the Robot Group Leipzig: motor.h Source File

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# motor.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  ***************************************************************************
    00022  ** Started on  Mon Oct 15 18:01:12 2007 Georg Martius
    00023  ** Last update Mon Oct 15 18:01:12 2007 Georg Martius
    00024  *                                                                         *
    00025  *  DESCRIPTION                                                            *
    00026  *                                                                         *
    00027  *   $Log: motor.h,v $
    00028  *   Revision 1.1  2007/11/07 13:17:40  martius
    00029  *   motors in a general sense (like sound, light,...)
    00030  *
    00031  *
    00032  *                                                                 *
    00033  ***************************************************************************/
    00034 #ifndef         MOTOR_H_
    00035 # define        MOTOR_H_
    00036
    00037 namespace lpzrobots {
    00038
    00039   /**
    00040       Abstact base class for attachable motors
    00041   */
    00042   class Motor{
    00043   public:
    00044     Motor() {
    00045     }
    00046     virtual ~Motor() {};
    00047
    00048     /** initialises motor with body of robot
    00049     */
    00050     virtual void init(Primitive* own)=0;
    00051
    00052     /// return the dimensionality of this motor
    00053     virtual int getMotorNumber() const =0;
    00054
    00055     /** performs the actions, This is usually called in
    00056         doInternalStuff() from the robot */
    00057     virtual bool act(GlobalData& globaldata) = 0;
    00058
    00059     /** sends the action commands to the motor.
    00060         It returns the number of used values. (should be equal to
    00061         getMotorNumber)
    00062      */
    00063     virtual int set(const motor* values, int length) = 0;
    00064   };
    00065 }
    00066
    00067 #endif      /* !MOTOR_H_ */