robot_out_ports_real.h

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#ifndef OPEN_WALKER_CORE_IMPLEMENTATIONS_ROBOT_OUT_PORTS_REAL_H
#define OPEN_WALKER_CORE_IMPLEMENTATIONS_ROBOT_OUT_PORTS_REAL_H

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

#include <ow_core/Implementations/imu_sensor.h>
#include <ow_core/Implementations/force_torque_sensors.h>

namespace ow_core
{
class RobotOutPortsReal :
    public IRobotOutPortsReal,
    public IJoints
{
public:

protected:
  ow_core::ImuSensor imu_;
  ow_core::ForceTorqueSensors fts_;
  ow::JointState js_;

public:
    RobotOutPortsReal() :
      js_(ow::JointState::Zero())
    {}

    virtual ~RobotOutPortsReal()
    {
    }

    virtual IImuSensor* imuSensor()
    {
      return &imu_;
    }

    virtual const IImuSensor* imuSensor() const
    {
      return &imu_;
    }

    virtual IForceTorqueSensors* forceTorqueSensors()
    {
      return &fts_;
    }

    virtual const IForceTorqueSensors* forceTorqueSensors() const
    {
      return &fts_;
    }

    virtual IJoints* joints()
    {
      return this;
    }

    virtual const IJoints* joints() const
    {
      return this;
    }

    virtual ow::JointState& jointState()
    {
      return js_;
    }

    virtual const ow::JointState& jointState() const
    {
      return js_;
    }


};

}  // namespace ow_core


#endif  // OPEN_WALKER_CORE_IMPLEMENTATIONS_ROBOT_OUT_PORTS_REAL_H