force_torque_sensors.h

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#ifndef OPEN_WALKER_CORE_IMPLEMENTATIONS_FORCE_TORQUE_SENSORS_H
#define OPEN_WALKER_CORE_IMPLEMENTATIONS_FORCE_TORQUE_SENSORS_H

#include <ow_core/types.h>
#include <ow_core/Interfaces/i_force_torque_sensors.h>

namespace ow_core
{
class ForceTorqueSensors :
        public IForceTorqueSensors
{
public:

protected:
    ow::Wrench leftFoot_;
    ow::Wrench rightFoot_;

public:
    ForceTorqueSensors() :
      leftFoot_(ow::Wrench::Zero()),
      rightFoot_(ow::Wrench::Zero())
    {}

    virtual ~ForceTorqueSensors()
    {
    }

    virtual ow::Wrench& leftFoot()
    {
      return leftFoot_;
    }

    virtual const ow::Wrench& leftFoot() const
    {
      return leftFoot_;
    }

    virtual ow::Wrench& rightFoot()
    {
      return rightFoot_;
    }

    virtual const ow::Wrench& rightFoot() const
    {
      return rightFoot_;
    }
};

}  // namespace ow_core


#endif  // OPEN_WALKER_CORE_JOINT_POSITION_H