ImplementPositionControl.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_IPOSITIONCONTROLIMPL_H
#define YARP_DEV_IPOSITIONCONTROLIMPL_H
 
 
#include <yarp/dev/IPositionControl.h>
 
namespace yarp{
    namespace dev {
        class ImplementPositionControl;
        class StubImplPositionControlRaw;
    }
}
 
namespace yarp {
namespace dev {
namespace impl {
 
template <typename T>
class FixedSizeBuffersManager;
 
} // namespace impl
} // namespace dev
} // namespace yarp
 
class YARP_dev_API yarp::dev::ImplementPositionControl : public IPositionControl
{
protected:
    IPositionControlRaw *iPosition;
    void    *helper;
    yarp::dev::impl::FixedSizeBuffersManager<int> *intBuffManager;
    yarp::dev::impl::FixedSizeBuffersManager<double> *doubleBuffManager;
    yarp::dev::impl::FixedSizeBuffersManager<bool> *boolBuffManager;
 
    bool initialize (int size, const int *amap, const double *enc, const double *zos);
 
    bool uninitialize ();
 
public:
    ImplementPositionControl(yarp::dev::IPositionControlRaw *y);
 
    virtual ~ImplementPositionControl();
 
 
    bool getAxes(int *axis) override;
 
    bool positionMove(int j, double ref) override;
    bool positionMove(const int n_joint, const int *joints, const double *refs) override;
    bool positionMove(const double *refs) override;
    bool relativeMove(int j, double delta) override;
    bool relativeMove(const int n_joint, const int *joints, const double *deltas) override;
    bool relativeMove(const double *deltas) override;
    bool checkMotionDone(bool *flag) override;
    bool checkMotionDone(const int n_joint, const int *joints, bool *flags) override;
    bool checkMotionDone(int j, bool *flag) override;
    bool setRefSpeed(int j, double sp) override;
    bool setRefSpeeds(const int n_joint, const int *joints, const double *spds) override;
    bool setRefSpeeds(const double *spds) override;
    bool setRefAcceleration(int j, double acc) override;
    bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override;
    bool setRefAccelerations(const double *accs) override;
    bool getRefSpeed(int j, double *ref) override;
    bool getRefSpeeds(const int n_joint, const int *joints, double *spds) override;
    bool getRefSpeeds(double *spds) override;
    bool getRefAcceleration(int j, double *acc) override;
    bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override;
    bool getRefAccelerations(double *accs) override;
    bool stop(int j) override;
    bool stop(const int n_joint, const int *joints) override;
    bool stop() override;
    bool getTargetPosition(const int joint, double *ref) override;
    bool getTargetPositions(double *refs) override;
    bool getTargetPositions(const int n_joint, const int *joints, double *refs) override;
};
 
class YARP_dev_API yarp::dev::StubImplPositionControlRaw: public IPositionControlRaw
{
private:
    bool NOT_YET_IMPLEMENTED(const char *func=0);
 
public:
    virtual ~StubImplPositionControlRaw(){}
 
    bool getAxes(int *ax) override
    {return NOT_YET_IMPLEMENTED("getAxes");}
 
    bool positionMoveRaw(int j, double ref) override
    {return NOT_YET_IMPLEMENTED("positionMoveRaw");}
 
    bool positionMoveRaw(const int n_joint, const int *joints, const double *refs) override
    {return NOT_YET_IMPLEMENTED("positionMoveRaw");}
 
    bool positionMoveRaw(const double *refs) override
    {return NOT_YET_IMPLEMENTED("positionMoveRaw");}
 
    bool relativeMoveRaw(int j, double delta) override
    {return NOT_YET_IMPLEMENTED("relativeMoveRaw");}
 
    bool relativeMoveRaw(const int n_joint, const int *joints, const double *refs) override
    {return NOT_YET_IMPLEMENTED("relativeMoveRaw");}
 
    bool relativeMoveRaw(const double *deltas) override
    {return NOT_YET_IMPLEMENTED("relativeMoveRaw");}
 
    bool checkMotionDoneRaw(int j, bool *flag) override
    {return NOT_YET_IMPLEMENTED("checkMotionDoneRaw");}
 
    bool checkMotionDoneRaw(const int n_joint, const int *joints, bool *flags) override
    {return NOT_YET_IMPLEMENTED("checkMotionDoneRaw");}
 
    bool checkMotionDoneRaw(bool *flag) override
    {return NOT_YET_IMPLEMENTED("checkMotionDoneRaw");}
 
    bool setRefSpeedRaw(int j, double sp) override
    {return NOT_YET_IMPLEMENTED("setRefSpeedRaw");}
 
    bool setRefSpeedsRaw(const int n_joint, const int *joints, const double *spds) override
    {return NOT_YET_IMPLEMENTED("setRefSpeedsRaw");}
 
    bool setRefSpeedsRaw(const double *spds) override
    {return NOT_YET_IMPLEMENTED("setRefSpeedsRaw");}
 
    bool setRefAccelerationRaw(int j, double acc) override
    {return NOT_YET_IMPLEMENTED("setRefAccelerationRaw");}
 
    bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs) override
    {return NOT_YET_IMPLEMENTED("setRefAccelerationsRaw");}
 
    bool setRefAccelerationsRaw(const double *accs) override
    {return NOT_YET_IMPLEMENTED("setRefAccelerationsRaw");}
 
    bool getRefSpeedRaw(int j, double *ref) override
    {return NOT_YET_IMPLEMENTED("getRefSpeedRaw");}
 
    bool getRefSpeedsRaw(const int n_joint, const int *joints, double *spds) override
    {return NOT_YET_IMPLEMENTED("getRefSpeedsRaw");}
 
    bool getRefSpeedsRaw(double *spds) override
    {return NOT_YET_IMPLEMENTED("getRefSpeedsRaw");}
 
    bool getRefAccelerationRaw(int j, double *acc) override
    {return NOT_YET_IMPLEMENTED("getRefAccelerationRaw");}
 
    bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs) override
    {return NOT_YET_IMPLEMENTED("getRefAccelerationsRaw");}
 
    bool getRefAccelerationsRaw(double *accs) override
    {return NOT_YET_IMPLEMENTED("getRefAccelerationsRaw");}
 
    bool stopRaw(int j) override
    {return NOT_YET_IMPLEMENTED("stopRaw");}
 
    bool stopRaw(const int n_joint, const int *joints) override
    {return NOT_YET_IMPLEMENTED("stopRaw");}
 
    bool stopRaw() override
    {return NOT_YET_IMPLEMENTED("stopRaw");}
 
    bool getTargetPositionRaw(const int joint, double *ref) override
    {return NOT_YET_IMPLEMENTED("stopRaw");}
 
    bool getTargetPositionsRaw(double *refs) override
    {return NOT_YET_IMPLEMENTED("stopRaw");}
 
    bool getTargetPositionsRaw(const int n_joint, const int *joints, double *refs) override
    {return NOT_YET_IMPLEMENTED("stopRaw");}
};
 
#endif // YARP_DEV_IPOSITIONCONTROLIMPL_H