IHapticDevice.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_HAPTICDEVICE_H
#define YARP_DEV_HAPTICDEVICE_H
 
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
 
namespace yarp {
    namespace dev {
        class IHapticDevice;
    }
}
 
 
class YARP_dev_API yarp::dev::IHapticDevice
{
public:
    virtual ~IHapticDevice() { }
 
    virtual bool getPosition(yarp::sig::Vector &pos) = 0;
 
    virtual bool getOrientation(yarp::sig::Vector &rpy) = 0;
 
    virtual bool getButtons(yarp::sig::Vector &buttons) = 0;
 
    virtual bool isCartesianForceModeEnabled(bool &ret) = 0;
 
    virtual bool setCartesianForceMode() = 0;
 
    virtual bool setJointTorqueMode() = 0;
 
    virtual bool getMaxFeedback(yarp::sig::Vector &max) = 0;
 
    virtual bool setFeedback(const yarp::sig::Vector &fdbck) = 0;
 
    virtual bool stopFeedback() = 0;
 
    virtual bool setTransformation(const yarp::sig::Matrix &T) = 0;
 
    virtual bool getTransformation(yarp::sig::Matrix &T) = 0;
};
 
#endif