YARP
Yet Another Robot Platform
IEncodersTimed.h
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1 /*
2  * Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
3  * All rights reserved.
4  *
5  * This software may be modified and distributed under the terms of the
6  * BSD-3-Clause license. See the accompanying LICENSE file for details.
7  */
8 
9 #ifndef YARP_DEV_IENCODERSTIMED_H
10 #define YARP_DEV_IENCODERSTIMED_H
11 
12 #include <yarp/dev/IEncoders.h>
13 #include <yarp/dev/api.h>
14 
15 namespace yarp {
16  namespace dev {
17  class IEncodersTimed;
18  class IEncodersTimedRaw;
19  }
20 }
21 
28 {
29 public:
33  virtual ~IEncodersTimedRaw() {}
34 
41  virtual bool getEncodersTimedRaw(double *encs, double *stamps)=0;
42 
50  virtual bool getEncoderTimedRaw(int j, double *encs, double *stamp)=0;
51 };
52 
59 {
60 public:
64  virtual ~IEncodersTimed() {}
65 
72  virtual bool getEncodersTimed(double *encs, double *time)=0;
73 
81  virtual bool getEncoderTimed(int j, double *encs, double *time)=0;
82 };
83 
84 
85 #endif // YARP_DEV_IENCODERSTIMED_H
#define YARP_dev_API
Definition: api.h:19
Control board, encoder interface.
Definition: IEncoders.h:27
The main, catch-all namespace for YARP.
Definition: numeric.h:47
Control board, extend encoder raw interface adding timestamps.
Control board, extend encoder interface with timestamps.
virtual ~IEncodersTimed()
Destructor.
virtual bool getEncoderTimedRaw(int j, double *encs, double *stamp)=0
Read the instantaneous acceleration of all axes.
virtual ~IEncodersTimedRaw()
Destructor.
Control board, encoder interface.
Definition: IEncoders.h:120
virtual bool getEncodersTimedRaw(double *encs, double *stamps)=0
Read the instantaneous acceleration of all axes.