GlobalRobotPoseSimulationSensorDevice.h
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1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @package ArmarXSimulation::ArmarXObjects::RobotUnitSimulation
17  * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
18  * @date 2017
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #pragma once
24 
25 #include <Eigen/Core>
26 
30 
32 
33 namespace armarx
34 {
35 
36 
37  TYPEDEF_PTRS_SHARED(GlobalRobotPoseSimulationSensorDevice);
39  {
40  public:
41  static std::string DeviceName()
42  {
43  return "GlobalRobotPoseSimulationSensorDevice";
44  }
46 
47  const SensorValueBase* getSensorValue() const override
48  {
49  return &sensor;
50  }
51 
52  std::string getReportingFrame() const override
53  {
54  return GlobalFrame;
55  }
56 
58  };
59 }
armarx::SensorValueGlobalRobotPose
Definition: GlobalRobotPoseSensorDevice.h:41
SensorDevice.h
armarx::SensorValueBase
The SensorValueBase class.
Definition: SensorValueBase.h:40
armarx::GlobalRobotPoseSimulationSensorDevice::GlobalRobotPoseSimulationSensorDevice
GlobalRobotPoseSimulationSensorDevice()
Definition: GlobalRobotPoseSimulationSensorDevice.h:45
armarx::GlobalFrame
const std::string GlobalFrame
Definition: FramedPose.h:62
armarx::GlobalRobotPoseSimulationSensorDevice
Definition: GlobalRobotPoseSimulationSensorDevice.h:38
armarx::DeviceBase
Definition: DeviceBase.h:29
armarx::TYPEDEF_PTRS_SHARED
TYPEDEF_PTRS_SHARED(ControlDevice)
armarx::GlobalRobotPoseSimulationSensorDevice::getReportingFrame
std::string getReportingFrame() const override
Definition: GlobalRobotPoseSimulationSensorDevice.h:52
SensorValueBase.h
armarx::SensorDevice
This class represents some part of the robot providing sensor values.
Definition: SensorDevice.h:59
FramedPose.h
armarx::GlobalRobotPoseSimulationSensorDevice::getSensorValue
const SensorValueBase * getSensorValue() const override
Definition: GlobalRobotPoseSimulationSensorDevice.h:47
armarx::GlobalRobotPoseSimulationSensorDevice::DeviceName
static std::string DeviceName()
Definition: GlobalRobotPoseSimulationSensorDevice.h:41
GlobalRobotPoseSensorDevice.h
armarx::GlobalRobotPoseSimulationSensorDevice::sensor
SensorValueGlobalRobotPose sensor
Definition: GlobalRobotPoseSimulationSensorDevice.h:57
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28