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00012 #ifndef HARDWARE_ESTIMATOR_ABSTRACT_HPP_
00013 #define HARDWARE_ESTIMATOR_ABSTRACT_HPP_
00014
00015 namespace jafar {
00016 namespace rtslam {
00017 namespace hardware {
00018
00019 class HardwareEstimatorAbstract;
00020 typedef boost::shared_ptr<HardwareEstimatorAbstract> hardware_estimator_ptr_t;
00021
00022
00023 class HardwareEstimatorAbstract
00024 {
00025 protected:
00026 bool started;
00027 public:
00028 HardwareEstimatorAbstract(): started(false) {}
00033 virtual jblas::mat_indirect acquireReadings(double t1, double t2) = 0;
00037 virtual void releaseReadings() = 0;
00043 virtual jblas::ind_array instantValues() = 0;
00048 virtual jblas::ind_array incrementValues() = 0;
00049
00050 virtual void start() {}
00051 };
00052
00053 }}}
00054
00055 #endif
00056
