ImplementJointFault.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IMPLEMENTJOINTFAULT_H
#define YARP_DEV_IMPLEMENTJOINTFAULT_H
 
#include <yarp/dev/IJointFault.h>
#include <yarp/dev/api.h>
 
namespace yarp::dev {
class ImplementJointFault;
}
 
class YARP_dev_API yarp::dev::ImplementJointFault: public IJointFault
{
protected:
    yarp::dev::IJointFaultRaw *raw;
    void *helper;
 
    bool initialize (int size, const int *amap);
 
    bool uninitialize ();
 
public:
    /* Constructor.
     * @param y is the pointer to the class instance inheriting from this
     *  implementation.
     */
    ImplementJointFault(yarp::dev::IJointFaultRaw *y);
 
    virtual ~ImplementJointFault();
 
    bool getLastJointFault(int j, int& fault, std::string& message) override;
 
};
 
#endif // YARP_DEV_IMPLEMENTJOINTFAULT_H