IControlLimits.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_ICONTROLLIMITS_H
#define YARP_DEV_ICONTROLLIMITS_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
 
namespace yarp
{
    namespace dev
    {
        class IControlLimitsRaw;
        class IControlLimits;
    }
}
 
class YARP_dev_API yarp::dev::IControlLimits
{
public:
    virtual ~IControlLimits() {}
 
    virtual bool setLimits(int axis, double min, double max)=0;
 
    virtual bool getLimits(int axis, double *min, double *max)=0;
 
    virtual bool setVelLimits(int axis, double min, double max)=0;
 
    virtual bool getVelLimits(int axis, double *min, double *max)=0;
};
 
class YARP_dev_API yarp::dev::IControlLimitsRaw
{
public:
    virtual ~IControlLimitsRaw() {}
 
    virtual bool setLimitsRaw(int axis, double min, double max)=0;
 
    virtual bool getLimitsRaw(int axis, double *min, double *max)=0;
 
    virtual bool setVelLimitsRaw(int axis, double min, double max)=0;
 
    virtual bool getVelLimitsRaw(int axis, double *min, double *max)=0;
};
 
// interface IControlLimits sets/gets
constexpr yarp::conf::vocab32_t VOCAB_LIMITS     = yarp::os::createVocab('l','l','i','m');
constexpr yarp::conf::vocab32_t VOCAB_VEL_LIMITS = yarp::os::createVocab('v','l','i','m');
 
#endif // YARP_DEV_ICONTROLLIMITS_H