IJointCoupling.h

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/*
 * SPDX-FileCopyrightText: 2006-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IJOINTCOUPLING_H
#define YARP_DEV_IJOINTCOUPLING_H
 
#include <yarp/dev/api.h>
#include <yarp/os/Vocab.h>
#include <yarp/sig/Vector.h>
 
namespace yarp::dev {
class IJointCoupling;
}
class YARP_dev_API yarp::dev::IJointCoupling
{
public:
    virtual ~IJointCoupling() {}
 
    virtual bool convertFromPhysicalJointsToActuatedAxesPos(const yarp::sig::Vector& physJointsPos, yarp::sig::Vector& actAxesPos) = 0;
 
    virtual bool convertFromPhysicalJointsToActuatedAxesVel(const yarp::sig::Vector& physJointsPos, const yarp::sig::Vector& physJointsVel, yarp::sig::Vector& actAxesVel) = 0;
 
    virtual bool convertFromPhysicalJointsToActuatedAxesAcc(const yarp::sig::Vector& physJointsPos, const yarp::sig::Vector& physJointsVel, const yarp::sig::Vector& physJointsAcc, yarp::sig::Vector& actAxesAcc) = 0;
 
    virtual bool convertFromPhysicalJointsToActuatedAxesTrq(const yarp::sig::Vector& physJointsPos, const yarp::sig::Vector& physJointsTrq, yarp::sig::Vector& actAxesTrq) = 0;
 
    virtual bool convertFromActuatedAxesToPhysicalJointsPos(const yarp::sig::Vector& actAxesPos, yarp::sig::Vector& physJointsPos) = 0;
 
    virtual bool convertFromActuatedAxesToPhysicalJointsVel(const yarp::sig::Vector& actAxesPos, const yarp::sig::Vector& actAxesVel, yarp::sig::Vector& physJointsVel) = 0;
 
    virtual bool convertFromActuatedAxesToPhysicalJointsAcc(const yarp::sig::Vector& actAxesPos, const yarp::sig::Vector& actAxesVel, const yarp::sig::Vector& actAxesAcc, yarp::sig::Vector& physJointsAcc) = 0;
 
    virtual bool convertFromActuatedAxesToPhysicalJointsTrq(const yarp::sig::Vector& actAxesPos, const yarp::sig::Vector& actAxesTrq, yarp::sig::Vector& physJointsTrq) = 0;
 
    // In some case, for a given coupling several "physical joints" ad "actuated axis"
    // may be related in a obvious way, i.e. the position and torque of given physical
    // joint could be equal to the position and torque of given actuated axis.
    // In that case "physical joints" ad "actuated axis" are typically identified by the
    // same name. The getCoupled***() methods return the indices of the "actuated axis"
    // and "physical joints" that are coupled in a non-obvious way
 
    virtual bool getNrOfPhysicalJoints(size_t& nrOfPhysicalJoints) = 0;
 
    virtual bool getNrOfActuatedAxes(size_t& nrOfActuatedAxes) = 0;
 
    virtual bool getCoupledPhysicalJoints(yarp::sig::VectorOf<size_t>& coupPhysJointsIndexes)=0;
 
    virtual bool getCoupledActuatedAxes(yarp::sig::VectorOf<size_t>& coupActAxesIndexes)=0;
 
    virtual bool getActuatedAxisName(size_t actuatedAxisIndex, std::string& actuatedAxisName)=0;
 
    virtual bool getPhysicalJointName(size_t physicalJointIndex, std::string& physicalJointName)=0;
 
    virtual bool getPhysicalJointLimits(size_t physicalJointIndex, double& min, double& max)=0;
};
 
#endif // YARP_DEV_IJOINTCOUPLING_H