IInteractionMode.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IINTERACTIONMODE_H
#define YARP_DEV_IINTERACTIONMODE_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
 
namespace yarp::dev {
class IInteractionMode;
class IInteractionModeRaw;
 
enum InteractionModeEnum
{
    VOCAB_IM_STIFF = yarp::os::createVocab32('s', 't', 'i', 'f'),
    VOCAB_IM_COMPLIANT = yarp::os::createVocab32('c', 'o', 'm', 'p'),
    VOCAB_IM_UNKNOWN = yarp::os::createVocab32('u', 'n', 'k', 'n')
};
} // namespace yarp::dev
 
constexpr yarp::conf::vocab32_t VOCAB_INTERFACE_INTERACTION_MODE    = yarp::os::createVocab32('i','n','t','m');
constexpr yarp::conf::vocab32_t VOCAB_INTERACTION_MODE              = yarp::os::createVocab32('m','o','d','e');
constexpr yarp::conf::vocab32_t VOCAB_INTERACTION_MODE_GROUP        = yarp::os::createVocab32('m','o','d','g');
constexpr yarp::conf::vocab32_t VOCAB_INTERACTION_MODES             = yarp::os::createVocab32('m','o','d','s');
 
 
 
class YARP_dev_API yarp::dev::IInteractionMode
{
public:
    virtual ~IInteractionMode() {}
 
    virtual bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum* mode)=0;
 
 
    virtual bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)=0;
 
 
    virtual bool getInteractionModes(yarp::dev::InteractionModeEnum* modes)=0;
 
 
    virtual bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode)=0;
 
 
    virtual bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)=0;
 
    virtual bool setInteractionModes(yarp::dev::InteractionModeEnum* modes)=0;
};
 
 
class YARP_dev_API yarp::dev::IInteractionModeRaw
{
public:
    virtual ~IInteractionModeRaw() {}
 
 
    virtual bool getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum* mode)=0;
 
 
    virtual bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)=0;
 
 
    virtual bool getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes)=0;
 
 
    virtual bool setInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum mode)=0;
 
 
    virtual bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes)=0;
 
    virtual bool setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes)=0;
};
 
#endif // YARP_DEV_IINTERACTIONMODE_H