IDrive.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
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 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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#ifndef _MIRA_IDRIVE_H_
#define _MIRA_IDRIVE_H_

#include <transform/Velocity.h>

namespace mira { namespace robot {


class IDrive
{
public:

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.interface("IDrive");
        r.method("setVelocity", &IDrive::setVelocity, this,
                 "Set translational and rotational velocity.",
                 "v", "velocity", Velocity2(0.5, 0.0, 0.0));
    }

    virtual ~IDrive() {}


public:

    virtual void setVelocity(const Velocity2& v) = 0;

};


}} // namespace

#endif