iCub-main
RobotStreamer.h
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1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 /*
4 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
5 * Author: Vadim Tikhanoff, Paul Fitzpatrick
6 * email: vadim.tikhanoff@iit.it, paulfitz@alum.mit.edu
7 * website: www.robotcub.org
8 * Permission is granted to copy, distribute, and/or modify this program
9 * under the terms of the GNU General Public License, version 2 or any
10 * later version published by the Free Software Foundation.
11 *
12 * A copy of the license can be found at
13 * http://www.robotcub.org/icub/license/gpl.txt
14 *
15 * This program is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
18 * Public License for more details
19 */
20 
21 
22 #ifndef ICUBSIMULATION_ROBOTSTREAMER_INC
23 #define ICUBSIMULATION_ROBOTSTREAMER_INC
24 
25 #include <yarp/os/Bottle.h>
26 
28 
30 public:
31  virtual void sendVision() = 0;
32  virtual void sendTouchLeftHand(yarp::os::Bottle& report) = 0;
33  virtual void sendTouchRightHand(yarp::os::Bottle& report) = 0;
34  virtual bool shouldSendTouchLeftHand() = 0;
35  virtual bool shouldSendTouchRightHand() = 0;
36  virtual void sendInertial(yarp::os::Bottle& report) = 0;
37  virtual bool shouldSendInertial() = 0;
38  virtual void checkTorques() = 0;
39 
40  //whole_body_skin_emul
41  virtual void sendSkinEvents(iCub::skinDynLib::skinContactList& skinContactListReport) = 0;
42  virtual bool shouldSendSkinEvents() = 0;
43 
44  virtual void sendTouchLeftArm(yarp::os::Bottle& report) = 0;
45  virtual void sendTouchRightArm(yarp::os::Bottle& report) = 0;
46  virtual bool shouldSendTouchLeftArm() = 0;
47  virtual bool shouldSendTouchRightArm() = 0;
48 
49  virtual void sendTouchLeftForearm(yarp::os::Bottle& report) = 0;
50  virtual void sendTouchRightForearm(yarp::os::Bottle& report) = 0;
51  virtual bool shouldSendTouchLeftForearm() = 0;
52  virtual bool shouldSendTouchRightForearm() = 0;
53 
54  virtual void sendTouchTorso(yarp::os::Bottle& report) = 0;
55  virtual bool shouldSendTouchTorso() = 0;
56 
57 };
58 
59 #endif
virtual bool shouldSendInertial()=0
virtual void sendTouchRightHand(yarp::os::Bottle &report)=0
Class representing a list of external contacts acting on the iCub&#39; skin.
virtual void sendTouchLeftForearm(yarp::os::Bottle &report)=0
virtual void sendInertial(yarp::os::Bottle &report)=0
virtual void sendSkinEvents(iCub::skinDynLib::skinContactList &skinContactListReport)=0
virtual void checkTorques()=0
virtual bool shouldSendTouchLeftForearm()=0
virtual bool shouldSendTouchLeftArm()=0
virtual bool shouldSendTouchTorso()=0
virtual void sendTouchTorso(yarp::os::Bottle &report)=0
virtual bool shouldSendSkinEvents()=0
virtual void sendTouchRightForearm(yarp::os::Bottle &report)=0
virtual bool shouldSendTouchRightHand()=0
virtual void sendTouchLeftHand(yarp::os::Bottle &report)=0
virtual bool shouldSendTouchRightForearm()=0
virtual bool shouldSendTouchLeftHand()=0
virtual void sendTouchLeftArm(yarp::os::Bottle &report)=0
virtual bool shouldSendTouchRightArm()=0
virtual void sendTouchRightArm(yarp::os::Bottle &report)=0
virtual void sendVision()=0