IJointBrake.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2025-2025 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IJOINTBRAKE_H
#define YARP_DEV_IJOINTBRAKE_H
 
#include <yarp/dev/api.h>
#include <yarp/dev/ReturnValue.h>
 
namespace yarp::dev {
class IJointBrakeRaw;
class IJointBrake;
}
 
class YARP_dev_API yarp::dev::IJointBrake
{
public:
    virtual ~IJointBrake(){}
 
    virtual yarp::dev::ReturnValue isJointBraked(int j, bool& braked) const =0;
 
    virtual yarp::dev::ReturnValue setManualBrakeActive(int j, bool active) =0;
 
    virtual yarp::dev::ReturnValue setAutoBrakeEnabled(int j, bool enabled) =0;
 
    virtual yarp::dev::ReturnValue getAutoBrakeEnabled(int j, bool& enabled) const =0;
};
 
 
class YARP_dev_API yarp::dev::IJointBrakeRaw
{
public:
    virtual ~IJointBrakeRaw(){}
    virtual yarp::dev::ReturnValue isJointBrakedRaw(int j, bool& braked) const =0;
    virtual yarp::dev::ReturnValue setManualBrakeActiveRaw(int j, bool active) =0;
    virtual yarp::dev::ReturnValue setAutoBrakeEnabledRaw(int j, bool enabled) =0;
    virtual yarp::dev::ReturnValue getAutoBrakeEnabledRaw(int j, bool& enabled) const =0;
};
 
#endif // YARP_DEV_IJOINTBRAKE_H