ImplementPositionDirect.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_IPOSITIONDIRECTIMPL_H
#define YARP_IPOSITIONDIRECTIMPL_H
 
 
#include <yarp/dev/IPositionDirect.h>
 
namespace yarp{
    namespace dev {
        class ImplementPositionDirect;
        class StubImplPositionDirectRaw;
    }
}
 
namespace yarp {
namespace dev {
namespace impl {
 
template <typename T>
class FixedSizeBuffersManager;
 
} // namespace impl
} // namespace dev
} // namespace yarp
 
class YARP_dev_API yarp::dev::ImplementPositionDirect : public yarp::dev::IPositionDirect
{
protected:
    IPositionDirectRaw *iPDirect;
    void    *helper;
    yarp::dev::impl::FixedSizeBuffersManager<int> *intBuffManager;
    yarp::dev::impl::FixedSizeBuffersManager<double> *doubleBuffManager;
 
    bool initialize (int size, const int *amap, const double *enc, const double *zos);
 
    bool uninitialize ();
 
public:
    ImplementPositionDirect(yarp::dev::IPositionDirectRaw *y);
 
    virtual ~ImplementPositionDirect();
 
    bool getAxes(int *axes) override;
    bool setPosition(int j, double ref) override;
    bool setPositions(const int n_joint, const int *joints, const double *refs) override;
    bool setPositions(const double *refs) override;
    bool getRefPosition(const int joint, double *ref) override;
    bool getRefPositions(double *refs) override;
    bool getRefPositions(const int n_joint, const int *joints, double *refs) override;
};
 
 
class YARP_dev_API yarp::dev::StubImplPositionDirectRaw: public IPositionDirect
{
private:
    bool NOT_YET_IMPLEMENTED(const char *func=0);
 
public:
    virtual ~StubImplPositionDirectRaw(){}
 
    bool getAxes(int *axis) override
    {return NOT_YET_IMPLEMENTED("getAxes");}
 
    bool setPosition(int j, double ref) override
    {return NOT_YET_IMPLEMENTED("setPosition");}
 
    bool setPositions(const int n_joint, const int *joints, const double *refs) override
    {return NOT_YET_IMPLEMENTED("setPositions");}
 
    bool setPositions(const double *refs) override
    {return NOT_YET_IMPLEMENTED("setPositions");}
};
 
#endif // YARP_IPOSITIONDIRECTIMPL_H