IInteractionMode.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_IINTERACTIONMODE_H
#define YARP_DEV_IINTERACTIONMODE_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
 
namespace yarp {
    namespace dev {
        class IInteractionMode;
        class IInteractionModeRaw;
 
        enum InteractionModeEnum
        {
            VOCAB_IM_STIFF        =   yarp::os::createVocab('s','t','i','f'),
            VOCAB_IM_COMPLIANT    =   yarp::os::createVocab('c','o','m','p'),
            VOCAB_IM_UNKNOWN      =   yarp::os::createVocab('u','n','k','n')
        };
    }
}
 
constexpr yarp::conf::vocab32_t VOCAB_INTERFACE_INTERACTION_MODE    = yarp::os::createVocab('i','n','t','m');
constexpr yarp::conf::vocab32_t VOCAB_INTERACTION_MODE              = yarp::os::createVocab('m','o','d','e');
constexpr yarp::conf::vocab32_t VOCAB_INTERACTION_MODE_GROUP        = yarp::os::createVocab('m','o','d','g');
constexpr yarp::conf::vocab32_t VOCAB_INTERACTION_MODES             = yarp::os::createVocab('m','o','d','s');
 
 
 
class YARP_dev_API yarp::dev::IInteractionMode
{
public:
    virtual ~IInteractionMode() {}
 
    virtual bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum* mode)=0;
 
 
    virtual bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)=0;
 
 
    virtual bool getInteractionModes(yarp::dev::InteractionModeEnum* modes)=0;
 
 
    virtual bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode)=0;
 
 
    virtual bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)=0;
 
    virtual bool setInteractionModes(yarp::dev::InteractionModeEnum* modes)=0;
};
 
 
class YARP_dev_API yarp::dev::IInteractionModeRaw
{
public:
    virtual ~IInteractionModeRaw() {}
 
 
    virtual bool getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum* mode)=0;
 
 
    virtual bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)=0;
 
 
    virtual bool getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes)=0;
 
 
    virtual bool setInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum mode)=0;
 
 
    virtual bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)=0;
 
    virtual bool setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes)=0;
};
 
#endif // YARP_DEV_IINTERACTIONMODE_H