ImplementControlCalibration.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_IMPLEMENTCONTROLCALIBRATION_H
#define YARP_DEV_IMPLEMENTCONTROLCALIBRATION_H
 
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/IControlCalibration.h>
#include <yarp/dev/ControlBoardHelper.h>
 
#include <yarp/dev/api.h>
namespace yarp{
    namespace dev {
        class ImplementControlCalibration;
    }
}
 
class YARP_dev_API yarp::dev::ImplementControlCalibration : public IControlCalibration
{
protected:
    IControlCalibrationRaw *iCalibrate;
    void *helper;
    double *temp;
 
    bool initialize (int size, const int *amap, const double *enc, const double *zos);
 
    bool uninitialize ();
 
public:
    /* Constructor.
     * @param y is the pointer to the class instance inheriting from this
     *  implementation.
     */
    ImplementControlCalibration(yarp::dev::IControlCalibrationRaw *y);
 
    virtual ~ImplementControlCalibration();
 
    bool calibrateAxisWithParams(int axis, unsigned int type, double p1, double p2, double p3) override;
 
    bool setCalibrationParameters(int axis, const CalibrationParameters& params) override;
 
    bool calibrationDone(int j) override;
};
 
 
#endif // YARP_DEV_IMPLEMENTCONTROLCALIBRATION_H