29 lines
838 B
C++
29 lines
838 B
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/coreProsAPI.hpp"
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#include <valarray>
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namespace okapi {
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/**
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* A version of the ChassisModel that only supports read methods, such as querying sensor values.
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* This class does not let you write to motors, so it supports having multiple owners and as a
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* result copying is enabled.
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*/
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class ReadOnlyChassisModel {
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public:
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virtual ~ReadOnlyChassisModel() = default;
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/**
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* Read the sensors.
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*
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* @return sensor readings (format is implementation dependent)
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*/
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virtual std::valarray<std::int32_t> getSensorVals() const = 0;
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};
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} // namespace okapi
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