|
Hormodular 1.0
Locomotion gait discovery by using digital hormones on modular robots
|
ModularRobotInterface.hpp
00001 //------------------------------------------------------------------------------ 00002 //-- ModularRobotInterface 00003 //------------------------------------------------------------------------------ 00004 //-- 00005 //-- Abstract class for different types of interfaces with modular robots 00006 //-- 00007 //------------------------------------------------------------------------------ 00008 //-- 00009 //-- This file belongs to the Hormodular project 00010 //-- (https://github.com/David-Estevez/hormodular.git) 00011 //-- 00012 //------------------------------------------------------------------------------ 00013 //-- Author: David Estevez-Fernandez 00014 //-- 00015 //-- Released under the GPL license (more info on LICENSE.txt file) 00016 //------------------------------------------------------------------------------ 00017 00024 #ifndef MODULAR_ROBOT_INTERFACE_H 00025 #define MODULAR_ROBOT_INTERFACE_H 00026 00027 namespace hormodular { 00028 00033 class ModularRobotInterface 00034 { 00035 public: 00040 virtual bool start() = 0; 00041 00046 virtual bool stop() = 0; 00047 00053 virtual bool destroy() = 0; 00054 00059 virtual bool reset() = 0; 00060 00061 00062 00067 virtual bool setProperty( std::string property, std::string value ); 00068 00069 00071 virtual float getTravelledDistance() = 0; 00072 00074 virtual bool sendJointValues(std::vector<float> joint_values, float step_ms=0) = 0; 00075 00077 virtual std::vector<float> getJointValues() = 0; 00078 00079 }; 00080 00081 00082 } 00083 00084 #endif //-- MODULAR_ROBOT_INTERFACE_H
