src/modules/robot/arm_solutions/BaseSolution.h

   1 // Base class for an arm solution, only usefull for inheritence. http://en.wikipedia.org/wiki/Arm_solution
   2 #ifndef BASESOLUTION_H
   3 #define BASESOLUTION_H
   4
   5 class BaseSolution {
   6     public:
   7         BaseSolution();
   8         virtual ~BaseSolution() {};
   9         virtual void millimeters_to_steps( double millimeters[], int steps[] ) = 0;
  10         virtual void steps_to_millimeters( int steps[], double millimeters[] ) = 0;
  11
  12         virtual void set_steps_per_millimeter( double steps[] ) = 0;
  13         virtual void get_steps_per_millimeter( double steps[] ) = 0;
  14
  15         virtual bool set_optional(char parameter, double value) { return false; };
  16         virtual bool get_optional(char parameter, double *value) { return false; };
  17 };
  18
  19 #endif