ControlBoardWrapperTorqueControl.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_CONTROLBOARDWRAPPERTORQUECONTROL_H
#define YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERTORQUECONTROL_H
 
#include <yarp/dev/ITorqueControl.h>
 
#include "ControlBoardWrapperCommon.h"
 
class ControlBoardWrapperTorqueControl :
        virtual public ControlBoardWrapperCommon,
        public yarp::dev::ITorqueControl
{
public:
    inline bool getAxes(int *ax) override { return ControlBoardWrapperCommon::getAxes(ax); }
    bool getRefTorques(double* refs) override;
    bool getRefTorque(int j, double* t) override;
    bool setRefTorques(const double* t) override;
    bool setRefTorque(int j, double t) override;
    bool setRefTorques(const int n_joint, const int* joints, const double* t) override;
    bool getMotorTorqueParams(int j, yarp::dev::MotorTorqueParameters* params) override;
    bool setMotorTorqueParams(int j, const yarp::dev::MotorTorqueParameters params) override;
    bool getTorque(int j, double* t) override;
    bool getTorques(double* t) override;
    bool getTorqueRange(int j, double* min, double* max) override;
    bool getTorqueRanges(double* min, double* max) override;
};
 
#endif // YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERTORQUECONTROL_H