ImplementTorqueControl.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_IMPLEMENTTORQUECONTROL_H
#define YARP_DEV_IMPLEMENTTORQUECONTROL_H
 
#include <yarp/dev/ITorqueControl.h>
#include <yarp/dev/api.h>
 
namespace yarp {
    namespace dev {
        class ImplementTorqueControl;
    }
}
 
namespace yarp {
namespace dev {
namespace impl {
 
template <typename T>
class FixedSizeBuffersManager;
 
} // namespace impl
} // namespace dev
} // namespace yarp
 
class YARP_dev_API yarp::dev::ImplementTorqueControl: public ITorqueControl
{
protected:
    yarp::dev::ITorqueControlRaw *iTorqueRaw;
    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, const double *nw, const double* amps, const double* dutys, const double* bemfs, const double* ktaus);
 
    bool uninitialize ();
 
public:
    /* Constructor.
     * @param y is the pointer to the class instance inheriting from this
     *  implementation.
     */
    ImplementTorqueControl(yarp::dev::ITorqueControlRaw *y);
 
    virtual ~ImplementTorqueControl();
 
    bool getAxes(int *ax) override;
    bool getRefTorque(int j, double *) override;
    bool getRefTorques(double *t) override;
    bool setRefTorques(const double *t) override;
    bool setRefTorque(int j, double t) override;
    bool setRefTorques(const int n_joint, const int *joints, const double *t) override;
    bool getTorques(double *t) override;
    bool getTorque(int j, double *t) override;
    bool setMotorTorqueParams(int j, const yarp::dev::MotorTorqueParameters params) override;
    bool getMotorTorqueParams(int j, yarp::dev::MotorTorqueParameters *params) override;
    bool getTorqueRange(int j, double *min, double *max) override;
    bool getTorqueRanges(double *min, double *max) override;
};
 
#endif // YARP_DEV_IMPLEMENTTORQUECONTROL_H