IPositionControl.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_IPOSITIONCONTROL_H
#define YARP_DEV_IPOSITIONCONTROL_H
 
#include <yarp/dev/api.h>
#include <yarp/os/Vocab.h>
 
namespace yarp {
    namespace dev {
        class IPositionControlRaw;
        class IPositionControl;
    }
}
 
class YARP_dev_API yarp::dev::IPositionControlRaw
{
public:
    virtual ~IPositionControlRaw() {}
 
    virtual bool getAxes(int *ax) = 0;
 
    virtual bool positionMoveRaw(int j, double ref)=0;
 
    virtual bool positionMoveRaw(const double *refs)=0;
 
    virtual bool relativeMoveRaw(int j, double delta)=0;
 
    virtual bool relativeMoveRaw(const double *deltas)=0;
 
    virtual bool checkMotionDoneRaw(int j, bool *flag)=0;
 
    virtual bool checkMotionDoneRaw(bool *flag)=0;
 
    virtual bool setRefSpeedRaw(int j, double sp)=0;
 
    virtual bool setRefSpeedsRaw(const double *spds)=0;
 
    virtual bool setRefAccelerationRaw(int j, double acc)=0;
 
    virtual bool setRefAccelerationsRaw(const double *accs)=0;
 
    virtual bool getRefSpeedRaw(int j, double *ref)=0;
 
    virtual bool getRefSpeedsRaw(double *spds)=0;
 
    virtual bool getRefAccelerationRaw(int j, double *acc)=0;
 
    virtual bool getRefAccelerationsRaw(double *accs)=0;
 
    virtual bool stopRaw(int j)=0;
 
    virtual bool stopRaw()=0;
 
    virtual bool positionMoveRaw(const int n_joint, const int *joints, const double *refs)=0;
 
    virtual bool relativeMoveRaw(const int n_joint, const int *joints, const double *deltas)=0;
 
    virtual bool checkMotionDoneRaw(const int n_joint, const int *joints, bool *flags)=0;
 
    virtual bool setRefSpeedsRaw(const int n_joint, const int *joints, const double *spds)=0;
 
    virtual bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs)=0;
 
    virtual bool getRefSpeedsRaw(const int n_joint, const int *joints, double *spds)=0;
 
    virtual bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs)=0;
 
    virtual bool stopRaw(const int n_joint, const int *joints)=0;
 
    virtual bool getTargetPositionRaw(const int joint, double *ref) { return false;}
 
    virtual bool getTargetPositionsRaw(double *refs) { return false;}
 
    virtual bool getTargetPositionsRaw(const int n_joint, const int *joints, double *refs) { return false;}
};
 
class YARP_dev_API yarp::dev::IPositionControl
{
public:
    virtual ~IPositionControl() {}
 
    virtual bool getAxes(int *ax) = 0;
 
    virtual bool positionMove(int j, double ref)=0;
 
    virtual bool positionMove(const double *refs)=0;
 
    virtual bool relativeMove(int j, double delta)=0;
 
    virtual bool relativeMove(const double *deltas)=0;
 
    virtual bool checkMotionDone(int j, bool *flag)=0;
 
    virtual bool checkMotionDone(bool *flag)=0;
 
    virtual bool setRefSpeed(int j, double sp)=0;
 
    virtual bool setRefSpeeds(const double *spds)=0;
 
    virtual bool setRefAcceleration(int j, double acc)=0;
 
    virtual bool setRefAccelerations(const double *accs)=0;
 
    virtual bool getRefSpeed(int j, double *ref)=0;
 
    virtual bool getRefSpeeds(double *spds)=0;
 
    virtual bool getRefAcceleration(int j, double *acc)=0;
 
    virtual bool getRefAccelerations(double *accs)=0;
 
    virtual bool stop(int j)=0;
 
    virtual bool stop()=0;
 
    virtual bool positionMove(const int n_joint, const int *joints, const double *refs)=0;
 
    virtual bool relativeMove(const int n_joint, const int *joints, const double *deltas)=0;
 
    virtual bool checkMotionDone(const int n_joint, const int *joints, bool *flag)=0;
 
    virtual bool setRefSpeeds(const int n_joint, const int *joints, const double *spds)=0;
 
    virtual bool setRefAccelerations(const int n_joint, const int *joints, const double *accs)=0;
 
    virtual bool getRefSpeeds(const int n_joint, const int *joints, double *spds)=0;
 
    virtual bool getRefAccelerations(const int n_joint, const int *joints, double *accs)=0;
 
    virtual bool stop(const int n_joint, const int *joints)=0;
 
    virtual bool getTargetPosition(const int joint, double *ref) { return false;}
 
    virtual bool getTargetPositions(double *refs) { return false;}
 
    virtual bool getTargetPositions(const int n_joint, const int *joints, double *refs) { return false;}
};
 
constexpr yarp::conf::vocab32_t VOCAB_POSITION_MOVE_GROUP    = yarp::os::createVocab('p','o','s','g');
constexpr yarp::conf::vocab32_t VOCAB_RELATIVE_MOVE_GROUP    = yarp::os::createVocab('r','e','l','g');
constexpr yarp::conf::vocab32_t VOCAB_MOTION_DONE_GROUP      = yarp::os::createVocab('d','o','n','g');
constexpr yarp::conf::vocab32_t VOCAB_REF_SPEED_GROUP        = yarp::os::createVocab('v','e','l','g');
constexpr yarp::conf::vocab32_t VOCAB_REF_ACCELERATION_GROUP = yarp::os::createVocab('a','c','c','g');
constexpr yarp::conf::vocab32_t VOCAB_STOP_GROUP             = yarp::os::createVocab('s','t','o','g');
 
#endif // YARP_DEV_IPOSITIONCONTROL_H