ImplementMotorEncoders.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_IMPLEMENTMOTORENCODERS_H
#define YARP_DEV_IMPLEMENTMOTORENCODERS_H
 
#include <yarp/dev/IMotorEncoders.h>
 
namespace yarp {
    namespace dev {
        class ImplementMotorEncoders;
    }
}
 
namespace yarp {
namespace dev {
namespace impl {
 
template <typename T>
class FixedSizeBuffersManager;
 
} // namespace impl
} // namespace dev
} // namespace yarp
 
class YARP_dev_API yarp::dev::ImplementMotorEncoders: public IMotorEncoders
{
protected:
    IMotorEncodersRaw *iMotorEncoders;
    void *helper;
    yarp::dev::impl::FixedSizeBuffersManager<double> *buffManager;
 
 
    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.
     */
    ImplementMotorEncoders(yarp::dev::IMotorEncodersRaw *y);
 
 
    virtual ~ImplementMotorEncoders();
 
    bool getNumberOfMotorEncoders(int *num) override;
 
    bool resetMotorEncoder(int m) override;
    bool resetMotorEncoders() override;
    bool setMotorEncoder(int m, const double val) override;
    bool setMotorEncoders(const double *vals) override;
    bool setMotorEncoderCountsPerRevolution(int m, const double cpr) override;
    bool getMotorEncoderCountsPerRevolution(int m, double *cpr) override;
    bool getMotorEncoder(int m, double *v) override;
    bool getMotorEncodersTimed(double *encs, double *time) override;
    bool getMotorEncoderTimed(int m, double *v, double *t) override;
    bool getMotorEncoders(double *encs) override;
    bool getMotorEncoderSpeed(int m, double *spds) override;
    bool getMotorEncoderSpeeds(double *spds) override;
    bool getMotorEncoderAcceleration(int m, double *spds) override;
    bool getMotorEncoderAccelerations(double *accs) override;
};
 
#endif // YARP_DEV_IMPLEMENTMOTORENCODERS_H