ControlBoardWrapperVelocityControl.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_CONTROLBOARDWRAPPERVELOCITYCONTROL_H
#define YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERVELOCITYCONTROL_H
 
#include <yarp/dev/IVelocityControl.h>
 
#include "ControlBoardWrapperCommon.h"
 
 
class ControlBoardWrapperVelocityControl :
        virtual public ControlBoardWrapperCommon,
        public yarp::dev::IVelocityControl
{
public:
    inline bool getAxes(int* ax) override { return ControlBoardWrapperCommon::getAxes(ax); }
    bool velocityMove(int j, double v) override;
    bool velocityMove(const double* v) override;
    bool velocityMove(const int n_joints, const int* joints, const double* spds) override;
    bool getRefVelocity(const int joint, double* vel) override;
    bool getRefVelocities(double* vels) override;
    bool getRefVelocities(const int n_joint, const int* joints, double* vels) override;
    inline bool setRefAcceleration(int j, double acc) override { return ControlBoardWrapperCommon::setRefAcceleration(j, acc); }
    inline bool setRefAccelerations(const double* accs) override { return ControlBoardWrapperCommon::setRefAccelerations(accs); }
    inline bool setRefAccelerations(const int n_joints, const int* joints, const double* accs) override { return ControlBoardWrapperCommon::setRefAccelerations(n_joints, joints, accs); }
    inline bool getRefAcceleration(int j, double* acc) override { return ControlBoardWrapperCommon::getRefAcceleration(j, acc); }
    inline bool getRefAccelerations(double* accs) override { return ControlBoardWrapperCommon::getRefAccelerations(accs); }
    inline bool getRefAccelerations(const int n_joints, const int* joints, double* accs) override { return ControlBoardWrapperCommon::getRefAccelerations(n_joints, joints, accs); }
    inline bool stop(int j) override { return ControlBoardWrapperCommon::stop(j); }
    inline bool stop() override { return ControlBoardWrapperCommon::stop(); }
    inline bool stop(const int n_joint, const int* joints) override { return ControlBoardWrapperCommon::stop(n_joint, joints); }
};
 
#endif // YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERVELOCITYCONTROL_H