IVelocityDirect.h

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/*
 * SPDX-FileCopyrightText: 2025-2025 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IVELOCITYDIRECT_H
#define YARP_DEV_IVELOCITYDIRECT_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
#include <yarp/dev/ReturnValue.h>
#include <vector>
 
namespace yarp::dev {
class IVelocityDirect;
class IVelocityDirectRaw;
}
 
class YARP_dev_API yarp::dev::IVelocityDirectRaw
{
public:
    virtual ~IVelocityDirectRaw() {}
 
    virtual yarp::dev::ReturnValue getAxes(size_t& axes) = 0;
 
    virtual yarp::dev::ReturnValue setDesiredVelocityRaw(int jnt, double vel)=0;
 
    virtual yarp::dev::ReturnValue setDesiredVelocityRaw(const std::vector<double>& vels)=0;
 
    virtual yarp::dev::ReturnValue setDesiredVelocityRaw(const std::vector<int>& jnts, const std::vector<double>& vels)=0;
 
    virtual yarp::dev::ReturnValue getDesiredVelocityRaw(const int jnt, double& vel) = 0;
 
    virtual yarp::dev::ReturnValue getDesiredVelocityRaw(std::vector<double>& vels) = 0;
 
    virtual yarp::dev::ReturnValue getDesiredVelocityRaw(const std::vector<int>& jnts, std::vector<double>& vels)=0;
};
 
class YARP_dev_API yarp::dev::IVelocityDirect
{
public:
    virtual ~IVelocityDirect() {}
 
    virtual yarp::dev::ReturnValue getAxes(size_t& axes) = 0;
 
    virtual yarp::dev::ReturnValue setDesiredVelocity(int jnt, double vel)=0;
 
    virtual yarp::dev::ReturnValue setDesiredVelocity(const std::vector<double>& vels)=0;
 
    virtual yarp::dev::ReturnValue setDesiredVelocity(const std::vector<int>& jnts, const std::vector<double>& vels)=0;
 
    virtual yarp::dev::ReturnValue getDesiredVelocity(const int jnt, double& vel) = 0;
 
    virtual yarp::dev::ReturnValue getDesiredVelocity(std::vector<double>& vels) = 0;
 
    virtual yarp::dev::ReturnValue getDesiredVelocity(const std::vector<int>& jnts, std::vector<double>& vels)=0;
};
 
 
constexpr yarp::conf::vocab32_t VOCAB_VELOCITY_DIRECT_SET_ONE = yarp::os::createVocab32('v', 'd', 's','o');
constexpr yarp::conf::vocab32_t VOCAB_VELOCITY_DIRECT_SET_ALL   = yarp::os::createVocab32('v','d','s','a');
constexpr yarp::conf::vocab32_t VOCAB_VELOCITY_DIRECT_SET_GROUP = yarp::os::createVocab32('v','d','s','g') ;
 
#endif // YARP_DEV_IVELOCITYDIRECT_H