IPositionDirect.h

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/*
 * Copyright (C) 2006-2019 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_IPOSITIONDIRECT_H
#define YARP_IPOSITIONDIRECT_H

#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>

namespace yarp {
    namespace dev {
        class IPositionDirect;
        class IPositionDirectRaw;
    }
}

class YARP_dev_API yarp::dev::IPositionDirect
{

public:
    virtual ~IPositionDirect() {}

    virtual bool getAxes(int *ax)=0;

    virtual bool setPosition(int j, double ref)=0;

    virtual bool setPositions(const int n_joint, const int *joints, const double *refs)=0;

    virtual bool setPositions(const double *refs)=0;

    virtual bool getRefPosition(const int joint, double *ref) {return false;}

    virtual bool getRefPositions(double *refs) {return false;}

    virtual bool getRefPositions(const int n_joint, const int *joints, double *refs) {return false;}
};



class YARP_dev_API yarp::dev::IPositionDirectRaw
{
public:
    virtual ~IPositionDirectRaw() {}

    virtual bool getAxes(int *axes) = 0;

    virtual bool setPositionRaw(int j, double ref)=0;

    virtual bool setPositionsRaw(const int n_joint, const int *joints, const double *refs)=0;


    virtual bool setPositionsRaw(const double *refs)=0;

    virtual bool getRefPositionRaw(const int joint, double *ref) {return false;}

    virtual bool getRefPositionsRaw(double *refs) {return false;};


    virtual bool getRefPositionsRaw(const int n_joint, const int *joints, double *refs) {return false;}
};

constexpr yarp::conf::vocab32_t VOCAB_POSITION_DIRECT           = yarp::os::createVocab('d','p','o');
constexpr yarp::conf::vocab32_t VOCAB_POSITION_DIRECTS          = yarp::os::createVocab('d','p','o','s');
constexpr yarp::conf::vocab32_t VOCAB_POSITION_DIRECT_GROUP     = yarp::os::createVocab('d','p','o','g');

#endif // YARP_IPOSITIONDIRECT_H