i_foot_trajectory_generator_out_ports.h

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#ifndef OPEN_WALKER_CORE_INTERFACES_I_FOOT_TRAJECTORY_GENERATOR_OUT_PORTS_H
#define OPEN_WALKER_CORE_INTERFACES_I_FOOT_TRAJECTORY_GENERATOR_OUT_PORTS_H

#include <ow_core/types.h>

namespace ow_core{

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

  virtual ow::CartesianPosition& X() = 0;
  virtual const ow::CartesianPosition& X() const = 0;

  virtual ow::CartesianVelocity& Xp() = 0;
  virtual const ow::CartesianVelocity& Xp() const = 0;

  virtual ow::CartesianAcceleration& Xpp() = 0;
  virtual const ow::CartesianAcceleration& Xpp() const = 0;

};

}

#endif // OPEN_WALKER_CORE_INTERFACES_I_FOOT_TRAJECTORY_GENERATOR_OUT_PORTS_H