ImplementControlLimits.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_ICONTROLLIMITSIMPL_H
#define YARP_DEV_ICONTROLLIMITSIMPL_H
 
 
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/api.h>
#include <yarp/os/Log.h>
 
namespace yarp {
namespace dev {
 
class YARP_dev_API ImplementControlLimits: public IControlLimits
{
protected:
    IControlLimitsRaw *iLimits2;
    void    *helper;
 
    bool initialize (int size, const int *amap, const double *enc, const double *zos);
 
    bool uninitialize ();
 
 
public:
    ImplementControlLimits(yarp::dev::IControlLimitsRaw *y);
 
    virtual ~ImplementControlLimits();
    bool setLimits(int axis, double min, double max) override;
    bool getLimits(int axis, double *min, double *max) override;
    bool setVelLimits(int axis, double min, double max) override;
    bool getVelLimits(int axis, double *min, double *max) override;
};
 
 
class StubImplControlLimitsRaw: public yarp::dev::IControlLimitsRaw
{
private:
    bool NOT_YET_IMPLEMENTED(const char *func=0)
    {
        if (func)
            yError("%s: not yet implemented\n", func);
        else
            yError("Function not yet implemented\n");
 
        return false;
    }
 
 
public:
    virtual ~StubImplControlLimitsRaw() {}
 
    bool setLimitsRaw(int axis, double min, double max) override
    {
        return NOT_YET_IMPLEMENTED("setLimitsRaw");
    }
 
    bool getLimitsRaw(int axis, double *min, double *max) override
    {
        return NOT_YET_IMPLEMENTED("getLimitsRaw");
    }
 
    bool setVelLimitsRaw(int axis, double min, double max) override
    {
        return NOT_YET_IMPLEMENTED("setVelLimitsRaw");
    }
 
    bool getVelLimitsRaw(int axis, double *min, double *max) override
    {
        return NOT_YET_IMPLEMENTED("getVelLimitsRaw");
    }
 
};
 
} // namespace dev
} // namespace yarp
 
#endif // YARP_DEV_ICONTROLLIMITSIMPL_H