IJacobianCoupling.h

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/*
 * SPDX-FileCopyrightText: 2006-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IJACOBIANCOUPLING_H
#define YARP_DEV_IJACOBIANCOUPLING_H
 
#include <yarp/dev/api.h>
#include <yarp/os/Vocab.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
 
namespace yarp::dev {
class IJacobianCoupling;
}
class YARP_dev_API yarp::dev::IJacobianCoupling
{
public:
    virtual ~IJacobianCoupling() {}
 
    virtual bool evaluateJacobianFromActuatedAxesToPhysicalJointsVel(const yarp::sig::Vector& actAxesPos, yarp::sig::Matrix& actAxesToPhysJointsVelJacobian)=0;
 
    virtual bool evaluateJacobianFromPhysicalJointsToActuatedAxeseVel(const yarp::sig::Vector& physJointsPos, yarp::sig::Matrix& physJointsToActAxesVelJacobian)=0;
};
 
#endif // YARP_DEV_IJACOBIANCOUPLING_H