ImplementVelocityDirect.h

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/*
 * SPDX-FileCopyrightText: 2025-2025 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IVELOCITYDIRECTIMPL_H
#define YARP_DEV_IVELOCITYDIRECTIMPL_H
 
 
#include <yarp/dev/IVelocityDirect.h>
#include <yarp/os/Log.h>
 
namespace yarp::dev {
class ImplementVelocityDirect;
}
 
class YARP_dev_API yarp::dev::ImplementVelocityDirect : public IVelocityDirect
{
protected:
    IVelocityDirectRaw *m_iVelocityDirectRaw=nullptr;
    void    *m_helper=nullptr;
    std::vector<int> m_buffer_ints;
    std::vector<double> m_buffer_doubles;
 
    bool initialize (int size, const int *amap, const double *enc, const double *zos);
 
    bool uninitialize();
 
public:
    ImplementVelocityDirect(yarp::dev::IVelocityDirectRaw* y);
 
    virtual ~ImplementVelocityDirect();
 
    yarp::dev::ReturnValue getAxes(size_t& axes) override;
    yarp::dev::ReturnValue setDesiredVelocity(int jnt, double vel) override;
    yarp::dev::ReturnValue setDesiredVelocity(const std::vector<double>& vels) override;
    yarp::dev::ReturnValue setDesiredVelocity(const std::vector<int>& jnts, const std::vector<double>& vels) override;
    yarp::dev::ReturnValue getDesiredVelocity(const int jnt, double& vel) override;
    yarp::dev::ReturnValue getDesiredVelocity(std::vector<double>& vels) override;
    yarp::dev::ReturnValue getDesiredVelocity(const std::vector<int>& jnts, std::vector<double>& vels) override;
};
 
#endif // YARP_DEV_IVELOCITYDIRECTIMPL_H