Program Listing for File gyro_handle.h

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/*
 * Copyright (c) 2020, Fetch Robotics Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fetch Robotics Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL FETCH ROBOTICS INC. BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

// Author: Vincenzo Barbato, Carl Saldanha

#ifndef ROBOT_CONTROLLERS_INTERFACE__GYRO_HANDLE_H_
#define ROBOT_CONTROLLERS_INTERFACE__GYRO_HANDLE_H_

#include <memory>
#include <string>

#include "robot_controllers_interface/handle.h"

namespace robot_controllers_interface
{

class GyroHandle : public Handle
{
public:
  GyroHandle()
  {
  }

  virtual ~GyroHandle()
  {
  }

  virtual std::string getType() = 0;

  virtual std::string getName() = 0;

  virtual bool isValid() = 0;

  virtual double getAngularVelocityX() = 0;

  virtual double getAngularVelocityY() = 0;

  virtual double getAngularVelocityZ() = 0;

private:
  // No copy
  GyroHandle(const GyroHandle&) = delete;
  GyroHandle& operator=(const GyroHandle&) = delete;
};

using GyroHandlePtr = std::shared_ptr<GyroHandle>;

}  // namespace robot_controllers_interface

#endif  // ROBOT_CONTROLLERS_INTERFACE__GYRO_HANDLE_H_