IVelocityControl.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_IVELOCITYCONTROL_H
#define YARP_DEV_IVELOCITYCONTROL_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
 
namespace yarp {
    namespace dev {
        class IVelocityControl;
        class IVelocityControlRaw;
    }
}
 
class YARP_dev_API yarp::dev::IVelocityControlRaw
{
public:
    virtual ~IVelocityControlRaw() {}
 
    virtual bool getAxes(int *axis) = 0;
 
    virtual bool velocityMoveRaw(int j, double sp)=0;
 
    virtual bool velocityMoveRaw(const double *sp)=0;
 
    virtual bool setRefAccelerationRaw(int j, double acc)=0;
 
    virtual bool setRefAccelerationsRaw(const double *accs)=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 velocityMoveRaw(const int n_joint, const int *joints, const double *spds)=0;
 
    virtual bool getRefVelocityRaw(const int joint, double *vel) {return false;}
 
    virtual bool getRefVelocitiesRaw(double *vels) {return false;}
 
    virtual bool getRefVelocitiesRaw(const int n_joint, const int *joints, double *vels) { return false;}
 
    virtual bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs)=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;
};
 
class YARP_dev_API yarp::dev::IVelocityControl
{
public:
    virtual ~IVelocityControl() {}
 
    virtual bool getAxes(int *axes) = 0;
 
    virtual bool velocityMove(int j, double sp)=0;
 
    virtual bool velocityMove(const double *sp)=0;
 
    virtual bool setRefAcceleration(int j, double acc)=0;
 
    virtual bool setRefAccelerations(const double *accs)=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 velocityMove(const int n_joint, const int *joints, const double *spds)=0;
 
    virtual bool getRefVelocity(const int joint, double *vel) {return false;}
 
    virtual bool getRefVelocities(double *vels) {return false;}
 
    virtual bool getRefVelocities(const int n_joint, const int *joints, double *vels) { return false;}
 
    virtual bool setRefAccelerations(const int n_joint, const int *joints, const double *accs)=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;
};
 
constexpr yarp::conf::vocab32_t VOCAB_VELOCITY_MOVE_GROUP = yarp::os::createVocab('v','m','o','g') ;
constexpr yarp::conf::vocab32_t VOCAB_VEL_PID  = yarp::os::createVocab('v','p','d');
constexpr yarp::conf::vocab32_t VOCAB_VEL_PIDS = yarp::os::createVocab('v','p','d','s');
 
#endif // YARP_DEV_IVELOCITYCONTROL_H