IFrameTransformStorage.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IFRAMETRANSFORM_STORAGE_H
#define YARP_DEV_IFRAMETRANSFORM_STORAGE_H
 
#include <string>
#include <vector>
 
#include <yarp/dev/api.h>
#include <yarp/os/Vocab.h>
#include <yarp/math/FrameTransform.h>
#include <yarp/dev/ReturnValue.h>
 
namespace yarp::dev {
class IFrameTransformStorageSet;
class IFrameTransformStorageGet;
class IFrameTransformStorageUtils;
class FrameTransformContainer;
}
 
class YARP_dev_API yarp::dev::IFrameTransformStorageSet
{
public:
    virtual ~IFrameTransformStorageSet();
 
    virtual yarp::dev::ReturnValue setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) = 0;
 
    virtual yarp::dev::ReturnValue setTransform(const yarp::math::FrameTransform& transform) = 0;
 
    virtual yarp::dev::ReturnValue clearAll() = 0;
 
    virtual yarp::dev::ReturnValue deleteTransform(std::string src, std::string dst) = 0;
};
 
class YARP_dev_API yarp::dev::IFrameTransformStorageGet
{
public:
    virtual ~IFrameTransformStorageGet();
 
    virtual yarp::dev::ReturnValue getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const = 0;
};
 
class YARP_dev_API yarp::dev::IFrameTransformStorageUtils
{
public:
    virtual ~IFrameTransformStorageUtils();
 
    virtual yarp::dev::ReturnValue size (size_t& size) const =0;
 
    virtual yarp::dev::ReturnValue getInternalContainer(yarp::dev::FrameTransformContainer*& container)  =0;
 
    virtual yarp::dev::ReturnValue startStorageThread() = 0;
 
    virtual yarp::dev::ReturnValue stopStorageThread() = 0;
};
 
#endif // YARP_DEV_IFRAMETRANSFORM_STORAGE_H