motor.h

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/***************************************************************************
 *   Copyright (C) 2005 by Robot Group Leipzig                             *
 *    martius@informatik.uni-leipzig.de                                    *
 *    fhesse@informatik.uni-leipzig.de                                     *
 *    der@informatik.uni-leipzig.de                                        *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************
 ** Started on  Mon Oct 15 18:01:12 2007 Georg Martius
 ** Last update Mon Oct 15 18:01:12 2007 Georg Martius
 *                                                                         *
 *  DESCRIPTION                                                            *
 *                                                                         *
 *   $Log: motor.h,v $
 *   Revision 1.1  2007/11/07 13:17:40  martius
 *   motors in a general sense (like sound, light,...)
 *
 *
 *                                                                 *
 ***************************************************************************/
#ifndef         MOTOR_H_
# define        MOTOR_H_

namespace lpzrobots {
  
  /**
      Abstact base class for attachable motors 
  */
  class Motor{
  public: 
    Motor() {
    }
    virtual ~Motor() {};
    
    /** initialises motor with body of robot
    */
    virtual void init(Primitive* own)=0;

    /// return the dimensionality of this motor
    virtual int getMotorNumber() const =0;

    /** performs the actions, This is usually called in
        doInternalStuff() from the robot */
    virtual bool act(GlobalData& globaldata) = 0;

    /** sends the action commands to the motor.
        It returns the number of used values. (should be equal to
        getMotorNumber)
     */
    virtual int set(const motor* values, int length) = 0;    
  };
}

#endif      /* !MOTOR_H_ */

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