CartesianControl.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_CARTESIANCONTROL_H
#define YARP_DEV_CARTESIANCONTROL_H
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Stamp.h>
#include <yarp/dev/api.h>
#include <yarp/sig/Vector.h>
 
namespace yarp {
    namespace dev {
        struct CartesianEventParameters;
        struct CartesianEventVariables;
        class  CartesianEvent;
        class  ICartesianControl;
    }
}
 
 
struct YARP_dev_API yarp::dev::CartesianEventParameters
{
    std::string type;
 
    double motionOngoingCheckPoint;
};
 
 
struct YARP_dev_API yarp::dev::CartesianEventVariables
{
    std::string type;
 
    double time;
 
    double motionOngoingCheckPoint;
};
 
 
class YARP_dev_API yarp::dev::CartesianEvent
{
public:
    virtual ~CartesianEvent() {}
 
    yarp::dev::CartesianEventParameters cartesianEventParameters;
 
    yarp::dev::CartesianEventVariables cartesianEventVariables;
 
    virtual void cartesianEventCallback() = 0;
};
 
 
class YARP_dev_API yarp::dev::ICartesianControl
{
public:
    virtual ~ICartesianControl();
 
    virtual bool setTrackingMode(const bool f) = 0;
 
    virtual bool getTrackingMode(bool *f) = 0;
 
    virtual bool setReferenceMode(const bool f) = 0;
 
    virtual bool getReferenceMode(bool *f) = 0;
 
    virtual bool setPosePriority(const std::string &p) = 0;
 
    virtual bool getPosePriority(std::string &p) = 0;
 
    virtual bool getPose(yarp::sig::Vector &x, yarp::sig::Vector &o,
                         yarp::os::Stamp *stamp=NULL) = 0;
 
    virtual bool getPose(const int axis, yarp::sig::Vector &x,
                         yarp::sig::Vector &o,
                         yarp::os::Stamp *stamp=NULL) = 0;
 
    virtual bool goToPose(const yarp::sig::Vector &xd,
                          const yarp::sig::Vector &od,
                          const double t = 0.0) = 0;
 
    virtual bool goToPosition(const yarp::sig::Vector &xd,
                              const double t = 0.0) = 0;
 
    virtual bool goToPoseSync(const yarp::sig::Vector &xd,
                              const yarp::sig::Vector &od,
                              const double t = 0.0) = 0;
 
    virtual bool goToPositionSync(const yarp::sig::Vector &xd,
                                  const double t = 0.0) = 0;
 
    virtual bool getDesired(yarp::sig::Vector &xdhat,
                            yarp::sig::Vector &odhat,
                            yarp::sig::Vector &qdhat) = 0;
 
    virtual bool askForPose(const yarp::sig::Vector &xd,
                            const yarp::sig::Vector &od,
                            yarp::sig::Vector &xdhat,
                            yarp::sig::Vector &odhat,
                            yarp::sig::Vector &qdhat) = 0;
 
    virtual bool askForPose(const yarp::sig::Vector &q0,
                            const yarp::sig::Vector &xd,
                            const yarp::sig::Vector &od,
                            yarp::sig::Vector &xdhat,
                            yarp::sig::Vector &odhat,
                            yarp::sig::Vector &qdhat) = 0;
 
    virtual bool askForPosition(const yarp::sig::Vector &xd,
                                yarp::sig::Vector &xdhat,
                                yarp::sig::Vector &odhat,
                                yarp::sig::Vector &qdhat) = 0;
 
    virtual bool askForPosition(const yarp::sig::Vector &q0,
                                const yarp::sig::Vector &xd,
                                yarp::sig::Vector &xdhat,
                                yarp::sig::Vector &odhat,
                                yarp::sig::Vector &qdhat) = 0;
 
    virtual bool getDOF(yarp::sig::Vector &curDof) = 0;
 
    virtual bool setDOF(const yarp::sig::Vector &newDof,
                        yarp::sig::Vector &curDof) = 0;
 
    virtual bool getRestPos(yarp::sig::Vector &curRestPos) = 0;
 
    virtual bool setRestPos(const yarp::sig::Vector &newRestPos,
                            yarp::sig::Vector &curRestPos) = 0;
 
    virtual bool getRestWeights(yarp::sig::Vector &curRestWeights) = 0;
 
    virtual bool setRestWeights(const yarp::sig::Vector &newRestWeights,
                                yarp::sig::Vector &curRestWeights) = 0;
 
    virtual bool getLimits(const int axis, double *min, double *max) = 0;
 
    virtual bool setLimits(const int axis, const double min, const double max) = 0;
 
    virtual bool getTrajTime(double *t) = 0;
 
    virtual bool setTrajTime(const double t) = 0;
 
    virtual bool getInTargetTol(double *tol) = 0;
 
    virtual bool setInTargetTol(const double tol) = 0;
 
    virtual bool getJointsVelocities(yarp::sig::Vector &qdot) = 0;
 
    virtual bool getTaskVelocities(yarp::sig::Vector &xdot,
                                   yarp::sig::Vector &odot) = 0;
 
    virtual bool setTaskVelocities(const yarp::sig::Vector &xdot,
                                   const yarp::sig::Vector &odot) = 0;
 
    virtual bool attachTipFrame(const yarp::sig::Vector &x,
                                const yarp::sig::Vector &o) = 0;
 
    virtual bool getTipFrame(yarp::sig::Vector &x, yarp::sig::Vector &o) = 0;
 
    virtual bool removeTipFrame() = 0;
 
    virtual bool checkMotionDone(bool *f) = 0;
 
    virtual bool waitMotionDone(const double period = 0.1,
                                const double timeout = 0.0) = 0;
 
    virtual bool stopControl() = 0;
 
    virtual bool storeContext(int *id) = 0;
 
    virtual bool restoreContext(const int id) = 0;
 
    virtual bool deleteContext(const int id) = 0;
 
    virtual bool getInfo(yarp::os::Bottle &info) = 0;
 
    virtual bool registerEvent(yarp::dev::CartesianEvent &event) = 0;
 
    virtual bool unregisterEvent(yarp::dev::CartesianEvent &event) = 0;
 
    virtual bool tweakSet(const yarp::os::Bottle &options) = 0;
 
    virtual bool tweakGet(yarp::os::Bottle &options) = 0;
};
 
#endif // YARP_DEV_CARTESIANCONTROL_H