server/UtDynamicsSimulator/Sensor.h

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// -*- mode: c++; indent-tabs-mode: nil; tab-width: 4; c-basic-offset: 4; -*-
/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * The University of Tokyo
 * National Institute of Advanced Industrial Science and Technology (AIST)
 * General Robotix Inc. 
 */
#ifndef OPENHRP_SENSOR_HEADER
#define OPENHRP_SENSOR_HEADER

#include <string>
#include <iostream>
#include "fMatrix3.h"
#include "chain.h"

        class Sensor
        {
        public:

                enum SensorType {
                        COMMON = 0,
                        FORCE,
                        RATE_GYRO,
                        ACCELERATION,
                        PRESSURE,
                        PHOTO_INTERRUPTER,
                        VISION,
                        TORQUE,
                        NUM_SENSOR_TYPES
                };

                static const int TYPE = COMMON;
                
        Sensor(); 
        virtual ~Sensor();

        static Sensor* create(int type);
                static void destroy(Sensor* sensor);

                virtual void operator=(const Sensor& org);

        virtual void clear();
                
                std::string name;
                int type;
                int id;
                Joint* joint;
                fMat33 localR;
                fVec3 localPos;

                virtual void putInformation(std::ostream& os);

        };


        class ForceSensor : public Sensor
        {
        public:
                static const int TYPE = FORCE;
                
        ForceSensor();
                fVec3 f;
                fVec3 tau;

        virtual void clear();
                virtual void putInformation(std::ostream& os);
        };


        class RateGyroSensor : public Sensor
        {
        public:
                static const int TYPE = RATE_GYRO;

        RateGyroSensor();
                fVec3 w;

        virtual void clear();
                virtual void putInformation(std::ostream& os);
        };


        class AccelSensor : public Sensor
        {
        public:
                static const int TYPE = ACCELERATION;

        AccelSensor();

                fVec3 dv;

        virtual void clear();
                virtual void putInformation(std::ostream& os);

        };

#endif