EncoderInterface.hpp

00001 /***************************************************************************
00002   tag: Peter Soetens  Mon Jan 19 14:11:26 CET 2004  EncoderInterface.hpp
00003 
00004                         EncoderInterface.hpp -  description
00005                            -------------------
00006     begin                : Mon January 19 2004
00007     copyright            : (C) 2004 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
00034  *   Suite 330, Boston, MA  02111-1307  USA                                *
00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 #ifndef ENCODERINTERFACE_HPP
00039 #define ENCODERINTERFACE_HPP
00040 
00041 #include "../NameServer.hpp"
00042 #include "../NameServerRegistrator.hpp"
00043 #include "../rtt-config.h"
00044 
00045 #ifdef ORO_PRAGMA_INTERFACE
00046 #pragma interface
00047 #endif
00048 
00049 namespace RTT
00050 {
00064     class RTT_API EncoderInterface
00065         : private NameServerRegistrator<EncoderInterface*>
00066     {
00067     public:
00074         EncoderInterface( const std::string& name )
00075             : NameServerRegistrator<EncoderInterface*>( nameserver, name, this )
00076         { }
00077 
00081         EncoderInterface()
00082         { }
00083 
00088         static NameServer<EncoderInterface*> nameserver;
00089 
00090         virtual ~EncoderInterface() {}
00091 
00095         virtual int positionGet() const = 0;
00096 
00100         virtual int turnGet() const = 0;
00101 
00105         virtual void positionSet( int p) = 0;
00106 
00110         virtual void turnSet( int t ) = 0;
00111 
00117         virtual int resolution() const = 0;
00118 
00126         virtual bool upcounting() const = 0;
00127     };
00128 }
00129 
00130 #endif
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