00001 #ifndef YOUBOT_ONEDOFGRIPPER_H 00002 #define YOUBOT_ONEDOFGRIPPER_H 00003 #include "generic-gripper/Gripper.hpp" 00004 #include "generic-gripper/GripperData.hpp" 00005 #include "generic-gripper/GripperParameter.hpp" 00006 #include "one-dof-gripper/OneDOFGripperData.hpp" 00007 00008 /**************************************************************** 00009 * 00010 * Copyright (c) 2011 00011 * All rights reserved. 00012 * 00013 * Hochschule Bonn-Rhein-Sieg 00014 * University of Applied Sciences 00015 * Computer Science Department 00016 * 00017 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00018 * 00019 * Author: 00020 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov 00021 * Supervised by: 00022 * Gerhard K. Kraetzschmar 00023 * 00024 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00025 * 00026 * This sofware is published under a dual-license: GNU Lesser General Public 00027 * License LGPL 2.1 and BSD license. The dual-license implies that users of this 00028 * code may choose which terms they prefer. 00029 * 00030 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00031 * 00032 * Redistribution and use in source and binary forms, with or without 00033 * modification, are permitted provided that the following conditions are met: 00034 * 00035 * * Redistributions of source code must retain the above copyright 00036 * notice, this list of conditions and the following disclaimer. 00037 * * Redistributions in binary form must reproduce the above copyright 00038 * notice, this list of conditions and the following disclaimer in the 00039 * documentation and/or other materials provided with the distribution. 00040 * * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its 00041 * contributors may be used to endorse or promote products derived from 00042 * this software without specific prior written permission. 00043 * 00044 * This program is free software: you can redistribute it and/or modify 00045 * it under the terms of the GNU Lesser General Public License LGPL as 00046 * published by the Free Software Foundation, either version 2.1 of the 00047 * License, or (at your option) any later version or the BSD license. 00048 * 00049 * This program is distributed in the hope that it will be useful, 00050 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00051 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00052 * GNU Lesser General Public License LGPL and the BSD license for more details. 00053 * 00054 * You should have received a copy of the GNU Lesser General Public 00055 * License LGPL and BSD license along with this program. 00056 * 00057 ****************************************************************/ 00058 namespace youbot { 00059 00060 /////////////////////////////////////////////////////////////////////////////// 00061 /// abstract gripper with one degree of freedom 00062 /////////////////////////////////////////////////////////////////////////////// 00063 class OneDOFGripper : public Gripper { 00064 public: 00065 virtual void setConfigurationParameter(const GripperParameter& parameter) = 0; 00066 00067 virtual void getConfigurationParameter(GripperParameter& parameter) const = 0; 00068 00069 virtual void setData(const OneDOFGripperData& data) = 0; 00070 00071 virtual void getData(OneDOFGripperData& data) const = 0; 00072 00073 }; 00074 00075 } // namespace youbot 00076 #endif