RobotStreamer.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-

/* 
* Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
* Author: Vadim Tikhanoff, Paul Fitzpatrick
* email:   vadim.tikhanoff@iit.it, paulfitz@alum.mit.edu
* website: www.robotcub.org
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* http://www.robotcub.org/icub/license/gpl.txt
*
* This program 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
*/


#ifndef ICUBSIMULATION_ROBOTSTREAMER_INC
#define ICUBSIMULATION_ROBOTSTREAMER_INC

#include <yarp/os/Bottle.h>

#include "iCub/skinDynLib/skinContactList.h"

class RobotStreamer {
public:
    virtual void sendVision() = 0;
    virtual void sendTouchLeftHand(yarp::os::Bottle& report) = 0;
    virtual void sendTouchRightHand(yarp::os::Bottle& report) = 0;
    virtual bool shouldSendTouchLeftHand() = 0;
    virtual bool shouldSendTouchRightHand() = 0;
    virtual void sendInertial(yarp::os::Bottle& report) = 0;
    virtual bool shouldSendInertial() = 0;
    virtual void checkTorques() = 0;

    //whole_body_skin_emul
    virtual void sendSkinEvents(iCub::skinDynLib::skinContactList& skinContactListReport) = 0;
    virtual bool shouldSendSkinEvents() = 0;
      
    virtual void sendTouchLeftArm(yarp::os::Bottle& report) = 0;
    virtual void sendTouchRightArm(yarp::os::Bottle& report) = 0;
    virtual bool shouldSendTouchLeftArm() = 0;
    virtual bool shouldSendTouchRightArm() = 0;
       
    virtual void sendTouchLeftForearm(yarp::os::Bottle& report) = 0;
    virtual void sendTouchRightForearm(yarp::os::Bottle& report) = 0;
    virtual bool shouldSendTouchLeftForearm() = 0;
    virtual bool shouldSendTouchRightForearm() = 0;
       
    virtual void sendTouchTorso(yarp::os::Bottle& report) = 0;
    virtual bool shouldSendTouchTorso() = 0;
    
};

#endif