ImplementVelocityControl.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_IVELOCITYCONTROLIMPL_H
#define YARP_DEV_IVELOCITYCONTROLIMPL_H
 
 
#include <yarp/dev/IVelocityControl.h>
#include <yarp/os/Log.h>
 
namespace yarp {
    namespace dev {
        class ImplementVelocityControl;
        class StubImplVelocityControlRaw;
    }
}
 
namespace yarp {
namespace dev {
namespace impl {
 
template <typename T>
class FixedSizeBuffersManager;
 
} // namespace impl
} // namespace dev
} // namespace yarp
 
class YARP_dev_API yarp::dev::ImplementVelocityControl : public IVelocityControl
{
protected:
    IVelocityControlRaw *iVelocity;
    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:
    ImplementVelocityControl(yarp::dev::IVelocityControlRaw *y);
 
    virtual ~ImplementVelocityControl();
 
    bool getAxes(int *axes) override;
    bool velocityMove(int j, double sp) override;
    bool velocityMove(const double *sp) override;
    bool setRefAcceleration(int j, double acc) override;
    bool setRefAccelerations(const double *accs) override;
    bool getRefAcceleration(int j, double *acc) override;
    bool getRefAccelerations(double *accs) override;
    bool stop(int j) override;
    bool stop() override;
 
 
    // specific of IVelocityControl2
    bool velocityMove(const int n_joint, const int *joints, const double *spds) override;
    bool getRefVelocity(const int joint, double *vel) override;
    bool getRefVelocities(double *vels) override;
    bool getRefVelocities(const int n_joint, const int *joints, double *vels) override;
    bool setRefAccelerations(const int n_joint, const int *joints, const double *accs) override;
    bool getRefAccelerations(const int n_joint, const int *joints, double *accs) override;
    bool stop(const int n_joint, const int *joints) override;
};
 
 
class yarp::dev::StubImplVelocityControlRaw: public IVelocityControlRaw
{
private:
    bool NOT_YET_IMPLEMENTED(const char *func = 0)
    {
        if (func)
            yError("%s: not yet implemented\n", func);
        else
            yError("Function not yet implemented\n");
 
        return false;
    }
 
public:
    bool getAxes(int *axes) override
    {return NOT_YET_IMPLEMENTED("getAxesRaw");}
 
    bool velocityMoveRaw(int j, double sp) override
    {return NOT_YET_IMPLEMENTED("velocityMoveRaw");}
 
    bool velocityMoveRaw(const double *sp) override
    {return NOT_YET_IMPLEMENTED("velocityMoveRaw");}
 
    bool setRefAccelerationRaw(int j, double acc) override
    {return NOT_YET_IMPLEMENTED("setRefAccelerationRaw");}
 
    bool setRefAccelerationsRaw(const double *accs) override
    {return NOT_YET_IMPLEMENTED("setRefAccelerationsRaw");}
 
    bool getRefAccelerationRaw(int j, double *acc) override
    {return NOT_YET_IMPLEMENTED("getRefAccelerationRaw");}
 
    bool getRefAccelerationsRaw(double *accs) override
    {return NOT_YET_IMPLEMENTED("getRefAccelerationsRaw");}
 
    bool stopRaw(int j) override
    {return NOT_YET_IMPLEMENTED("stopRaw");}
 
    bool stopRaw() override
    {return NOT_YET_IMPLEMENTED("stopRaw");}
 
 
    // specific of IVelocityControl2
    bool velocityMoveRaw(const int n_joint, const int *joints, const double *spds) override
    {return NOT_YET_IMPLEMENTED("velocityMoveRaw");}
 
    bool getRefVelocityRaw(const int joint, double *vel) override
    {return NOT_YET_IMPLEMENTED("getRefVelocityRaw");}
 
    bool getRefVelocitiesRaw(double *vels) override
    {return NOT_YET_IMPLEMENTED("getRefVelocitiesRaw");}
 
    bool getRefVelocitiesRaw(const int n_joint, const int *joints, double *vels) override
    {return NOT_YET_IMPLEMENTED("getRefVelocitiesRaw");}
 
    bool setRefAccelerationsRaw(const int n_joint, const int *joints, const double *accs) override
    {return NOT_YET_IMPLEMENTED("setRefAccelerationsRaw");}
 
    bool getRefAccelerationsRaw(const int n_joint, const int *joints, double *accs) override
    {return NOT_YET_IMPLEMENTED("getRefAccelerationsRaw");}
 
    bool stopRaw(const int n_joint, const int *joints) override
    {return NOT_YET_IMPLEMENTED("stopRaw");}
 
};
#endif // YARP_DEV_IVELOCITYCONTROLIMPL_H