ImplementImpedanceControl.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_IMPLEMENTIMPEDANCECONTROL_H
#define YARP_DEV_IMPLEMENTIMPEDANCECONTROL_H
 
#include <yarp/dev/IImpedanceControl.h>
#include <yarp/dev/api.h>
 
namespace yarp {
    namespace dev {
        class ImplementImpedanceControl;
    }
}
 
class YARP_dev_API yarp::dev::ImplementImpedanceControl: public IImpedanceControl
{
protected:
    yarp::dev::IImpedanceControlRaw *iImpedanceRaw;
    void *helper;
 
    bool initialize (int size, const int *amap, const double *enc, const double *zos, const double *nw);
 
    bool uninitialize ();
 
public:
    /* Constructor.
     * @param y is the pointer to the class instance inheriting from this
     *  implementation.
     */
    ImplementImpedanceControl(yarp::dev::IImpedanceControlRaw *y);
 
    virtual ~ImplementImpedanceControl();
 
    bool getAxes(int *ax) override;
    bool getImpedance(int j, double *stiffness, double *damping) override;
    bool setImpedance(int j, double  stiffness, double  damping) override;
    bool setImpedanceOffset(int j, double offset) override;
    bool getImpedanceOffset(int j, double* offset) override;
    bool getCurrentImpedanceLimit(int j, double *min_stiff, double *max_stiff, double *min_damp, double *max_damp) override;
 
};
 
#endif // YARP_DEV_IMPLEMENTIMPEDANCECONTROL_H