10 #ifndef YARP_IPOSITIONDIRECT_H 11 #define YARP_IPOSITIONDIRECT_H 18 class IPositionDirect;
19 class IPositionDirectRaw;
45 virtual bool getAxes(
int *ax)=0;
52 virtual bool setPosition(
int j,
double ref)=0;
65 virtual bool setPositions(
const int n_joint,
const int *joints,
const double *refs)=0;
71 virtual bool setPositions(
const double *refs)=0;
104 virtual bool getRefPositions(
const int n_joint,
const int *joints,
double *refs) {
return false;}
130 virtual bool getAxes(
int *axes) = 0;
137 virtual bool setPositionRaw(
int j,
double ref)=0;
149 virtual bool setPositionsRaw(
const int n_joint,
const int *joints,
const double *refs)=0;
156 virtual bool setPositionsRaw(
const double *refs)=0;
197 #endif // YARP_IPOSITIONDIRECT_H
virtual bool getRefPositionsRaw(const int n_joint, const int *joints, double *refs)
Get the last position reference for the specified group of axes.
virtual bool getRefPositions(const int n_joint, const int *joints, double *refs)
Get the last position reference for the specified group of axes.
constexpr yarp::conf::vocab32_t VOCAB_POSITION_DIRECTS
virtual bool getRefPositionsRaw(double *refs)
Get the last position reference for all axes.
constexpr yarp::conf::vocab32_t VOCAB_POSITION_DIRECT
constexpr yarp::conf::vocab32_t VOCAB_POSITION_DIRECT_GROUP
The main, catch-all namespace for YARP.
virtual ~IPositionDirect()
Destructor.
virtual ~IPositionDirectRaw()
Destructor.
Interface for a generic control board device implementing position control.
Interface for a generic control board device implementing position control in encoder coordinates...
virtual bool getRefPosition(const int joint, double *ref)
Get the last position reference for the specified axis.
virtual bool getRefPositions(double *refs)
Get the last position reference for all axes.
constexpr yarp::conf::vocab32_t createVocab(char a, char b=0, char c=0, char d=0)
virtual bool getRefPositionRaw(const int joint, double *ref)
Get the last position reference for the specified axis.