iCub-main
LogicalJoints.h
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1 /*
2 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
3 * Author: Paul Fitzpatrick
4 * email: paulfitz@alum.mit.edu
5 * website: www.robotcub.org
6 * Permission is granted to copy, distribute, and/or modify this program
7 * under the terms of the GNU General Public License, version 2 or any
8 * later version published by the Free Software Foundation.
9 *
10 * A copy of the license can be found at
11 * http://www.robotcub.org/icub/license/gpl.txt
12 *
13 * This program is distributed in the hope that it will be useful, but
14 * WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
16 * Public License for more details
17 */
18 
19 #ifndef ICUBSIMULATION_LOGICALJOINTS_INC
20 #define ICUBSIMULATION_LOGICALJOINTS_INC
21 
22 #include "LogicalJoint.h"
23 
24 #include <yarp/dev/DeviceDriver.h>
25 
31 class LogicalJoints : public yarp::dev::DeviceDriver {
32 public:
33  virtual ~LogicalJoints() {}
34 
41  virtual LogicalJoint& control(int part, int axis) = 0;
42 };
43 
44 
45 #endif
virtual ~LogicalJoints()
Definition: LogicalJoints.h:33
Route control for the robots controlled joints to their implementation.
Definition: LogicalJoints.h:31
Abstract class for mapping from "physical" (simulated) joints in the model to control joints in the I...
Definition: LogicalJoint.h:33
virtual LogicalJoint & control(int part, int axis)=0
Access the control for a logical joint, based on part and axis number.