ControlBoardWrapperImpedanceControl.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * 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_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERIMPEDANCECONTROL_H
#define YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERIMPEDANCECONTROL_H
 
#include <yarp/dev/IImpedanceControl.h>
 
#include "ControlBoardWrapperCommon.h"
 
class ControlBoardWrapperImpedanceControl :
        virtual public ControlBoardWrapperCommon,
        public yarp::dev::IImpedanceControl
{
public:
    inline bool getAxes(int* ax) override { return ControlBoardWrapperCommon::getAxes(ax); }
    bool setImpedance(int j, double stiff, double damp) override;
    bool setImpedanceOffset(int j, double offset) override;
    bool getImpedance(int j, double* stiff, double* damp) override;
    bool getImpedanceOffset(int j, double* offset) override;
    bool getCurrentImpedanceLimit(int j, double* min_stiff, double* max_stiff, double* min_damp, double* max_damp) override;
};
 
#endif // YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERIMPEDANCECONTROL_H