JointsPosMotion.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_ROBOTTESTINGFRAMEWORK_JOINTSPOSMOVE_H
#define YARP_ROBOTTESTINGFRAMEWORK_JOINTSPOSMOVE_H
 
#include <yarp/robottestingframework/api.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/PolyDriver.h>
#include <string>
 
namespace yarp::robottestingframework {
 
class YARP_robottestingframework_API jointsPosMotion {
public:
    //jointsPosMotion();
 
    jointsPosMotion(yarp::dev::PolyDriver *polydriver,
                    yarp::sig::Vector &jlist);
 
    virtual ~jointsPosMotion();
 
    void setTolerance(double tolerance);
 
    void setTimeout(double timeout);
 
    void setSpeed(yarp::sig::Vector &speedlist);
 
    bool setAndCheckPosControlMode();
 
 
    bool goToSingle(int j,
                    double pos,
                    double *reached_pos = nullptr);
 
    bool goTo(yarp::sig::Vector positions,
              yarp::sig::Vector *reached_pos = nullptr);
 
    bool checkJointLimitsReached(int j);
 
private:
    class Private;
    Private * const mPriv;
};
 
} // namespace yarp::robottestingframework
 
#endif // YARP_ROBOTTESTINGFRAMEWORK_JOINTSPOSMOVE_H