IMUSimulationSensorDevice.h

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXSimulation::ArmarXObjects::RobotUnitSimulation
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h>
#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValueIMU.h>
 
namespace armarx
{
    TYPEDEF_PTRS_SHARED(IMUSimulationSensorDevice);
 
    class IMUSimulationSensorDevice : virtual public SensorDevice
    {
    public:
        IMUSimulationSensorDevice(const std::string& name) : DeviceBase(name), SensorDevice(name)
        {
        }
 
        const SensorValueBase*
        getSensorValue() const override
        {
            return &sensor;
        }
 
        SensorValueIMU sensor;
    };
} // namespace armarx