IVisualServoing.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_VISUALSERVOING_H
#define YARP_DEV_VISUALSERVOING_H
 
#include <string>
#include <vector>
 
#include <yarp/os/Bottle.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/api.h>
 
namespace yarp{
    namespace dev {
        class IVisualServoing;
    }
}
 
 
class YARP_dev_API yarp::dev::IVisualServoing
{
public:
    enum class CamSel { left, right };
 
    virtual ~IVisualServoing();
 
    virtual bool initFacilities(bool use_direct_kin) = 0;
 
    virtual bool resetFacilities() = 0;
 
    virtual bool stopFacilities() = 0;
 
    virtual bool goToGoal(const std::vector<yarp::sig::Vector>& vec_px_l, const std::vector<yarp::sig::Vector>& vec_px_r) = 0;
 
    virtual bool goToGoal(const yarp::sig::Vector& vec_x, const yarp::sig::Vector& vec_o) = 0;
 
    virtual bool setModality(const std::string& mode) = 0;
 
    virtual bool setVisualServoControl(const std::string& control) = 0;
 
    virtual bool setControlPoint(const std::string& point) = 0;
 
    virtual bool getVisualServoingInfo(yarp::os::Bottle& info) = 0;
 
    virtual bool setGoToGoalTolerance(const double tol) = 0;
 
    virtual bool checkVisualServoingController() = 0;
 
    virtual bool waitVisualServoingDone(const double period = 0.1, const double timeout = 0.0) = 0;
 
    virtual bool stopController() = 0;
 
    virtual bool setTranslationGain(const double K_x_1, const double K_x_2) = 0;
 
    virtual bool setMaxTranslationVelocity(const double max_x_dot) = 0;
 
    virtual bool setTranslationGainSwitchTolerance(const double K_x_tol) = 0;
 
    virtual bool setOrientationGain(const double K_o_1, const double K_o_2) = 0;
 
    virtual bool setMaxOrientationVelocity(const double max_o_dot) = 0;
 
    virtual bool setOrientationGainSwitchTolerance(const double K_o_tol) = 0;
 
    virtual std::vector<yarp::sig::Vector> get3DGoalPositionsFrom3DPose(const yarp::sig::Vector& x, const yarp::sig::Vector& o) = 0;
 
    virtual std::vector<yarp::sig::Vector> getGoalPixelsFrom3DPose(const yarp::sig::Vector& x, const yarp::sig::Vector& o, const CamSel& cam) = 0;
 
 
    /* TO BE DEPRECATED */
    virtual bool storedInit(const std::string& label) = 0;
 
    virtual bool storedGoToGoal(const std::string& label) = 0;
 
    virtual bool goToSFMGoal() = 0;
};
 
#endif /* YARP_DEV_VISUALSERVOING_H */