IImpedanceControl.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_IIMPEDANCECONTROL_H
#define YARP_DEV_IIMPEDANCECONTROL_H
 
#include <yarp/dev/api.h>
#include <yarp/os/Vocab.h>
 
namespace yarp{
    namespace dev {
        class IImpedanceControlRaw;
        class IImpedanceControl;
    }
}
 
class YARP_dev_API yarp::dev::IImpedanceControlRaw
{
public:
    virtual ~IImpedanceControlRaw() {}
 
    virtual bool getAxes(int *ax) = 0;
 
    virtual bool getImpedanceRaw(int j, double *stiffness, double *damping)=0;
 
    virtual bool setImpedanceRaw(int j, double stiffness, double damping)=0;
 
    virtual bool setImpedanceOffsetRaw(int j, double offset)=0;
 
    virtual bool getImpedanceOffsetRaw(int j, double* offset)=0;
 
    virtual bool getCurrentImpedanceLimitRaw(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp)=0;
};
 
 
class YARP_dev_API yarp::dev::IImpedanceControl
{
public:
    virtual ~IImpedanceControl() {}
 
    virtual bool getAxes(int *ax) = 0;
 
    virtual bool getImpedance(int j, double *stiffness, double *damping)=0;
 
    virtual bool setImpedance(int j, double stiffness, double damping)=0;
 
    virtual bool setImpedanceOffset(int j, double offset)=0;
 
    virtual bool getImpedanceOffset(int j, double* offset)=0;
 
    virtual bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp)=0;
 
};
 
//interface
constexpr yarp::conf::vocab32_t VOCAB_IMPEDANCE    = yarp::os::createVocab('i','i','m','p');
 
constexpr yarp::conf::vocab32_t VOCAB_POSITION     = yarp::os::createVocab('p','o','s');
constexpr yarp::conf::vocab32_t VOCAB_VELOCITY     = yarp::os::createVocab('v','e','l');
 
#endif // YARP_DEV_IIMPEDANCECONTROL_H