i_robot_out_ports_real.h

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#ifndef OPEN_WALKER_CORE_INTERFACES_I_ROBOT_OUT_PORTS_REAL_H
#define OPEN_WALKER_CORE_INTERFACES_I_ROBOT_OUT_PORTS_REAL_H

#include <ow_core/Interfaces/i_joints.h>
#include <ow_core/Interfaces/i_imu_sensor.h>
#include <ow_core/Interfaces/i_force_torque_sensors.h>

namespace ow_core{

class IRobotOutPortsReal
{
public:
  virtual ~IRobotOutPortsReal()
  {
  }

  virtual IImuSensor* imuSensor() = 0;
  virtual const IImuSensor* imuSensor() const = 0;

  virtual IForceTorqueSensors* forceTorqueSensors() = 0;
  virtual const IForceTorqueSensors* forceTorqueSensors() const = 0;

  virtual IJoints* joints() = 0;
  virtual const IJoints* joints() const = 0;

};


}

#endif // OPEN_WALKER_CORE_INTERFACES_I_ROBOT_OUT_PORTS_REAL_H