ImplementEncoders.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_IMPLEMENTENCODERS_H
#define YARP_DEV_IMPLEMENTENCODERS_H
 
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/api.h>
 
namespace yarp
{
    namespace dev
    {
        class ImplementEncoders;
    }
}
 
class YARP_dev_API yarp::dev::ImplementEncoders : public IEncoders
{
protected:
    IEncodersRaw *iEncoders;
    void *helper;
    double *temp;
 
    bool initialize (int size, const int *amap, const double *enc, const double *zos);
 
    bool uninitialize ();
 
public:
    /* Constructor.
     * @param y is the pointer to the class instance inheriting from this
     *  implementation.
     */
    ImplementEncoders(yarp::dev::IEncodersRaw  *y);
 
    virtual ~ImplementEncoders();
 
 
    bool getAxes(int *ax) override;
 
    bool resetEncoder(int j) override;
 
    bool resetEncoders() override;
 
    bool setEncoder(int j, double val) override;
 
    bool setEncoders(const double *vals) override;
 
    bool getEncoder(int j, double *v) override;
 
    bool getEncoders(double *encs) override;
 
    bool getEncoderSpeed(int j, double *spds) override;
 
    bool getEncoderSpeeds(double *spds) override;
 
    bool getEncoderAcceleration(int j, double *spds) override;
 
    bool getEncoderAccelerations(double *accs) override;
};
 
#endif // YARP_DEV_IMPLEMENTENCODERS_H