IEncoders.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IENCODERS_H
#define YARP_DEV_IENCODERS_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
 
namespace yarp {
    namespace dev {
        class IEncodersRaw;
        class IEncoders;
      }
}
 
class YARP_dev_API yarp::dev::IEncodersRaw
{
public:
    virtual ~IEncodersRaw() {}
 
    virtual bool getAxes(int *ax) = 0;
 
    virtual bool resetEncoderRaw(int j)=0;
 
    virtual bool resetEncodersRaw()=0;
 
    virtual bool setEncoderRaw(int j, double val)=0;
 
    virtual bool setEncodersRaw(const double *vals)=0;
 
    virtual bool getEncoderRaw(int j, double *v)=0;
 
    virtual bool getEncodersRaw(double *encs)=0;
 
    virtual bool getEncoderSpeedRaw(int j, double *sp)=0;
 
    virtual bool getEncoderSpeedsRaw(double *spds)=0;
 
    virtual bool getEncoderAccelerationRaw(int j, double *spds)=0;
 
    virtual bool getEncoderAccelerationsRaw(double *accs)=0;
};
 
class YARP_dev_API yarp::dev::IEncoders
{
public:
    virtual ~IEncoders() {}
 
    virtual bool getAxes(int *ax) = 0;
 
    virtual bool resetEncoder(int j)=0;
 
    virtual bool resetEncoders()=0;
 
    virtual bool setEncoder(int j, double val)=0;
 
    virtual bool setEncoders(const double *vals)=0;
 
    virtual bool getEncoder(int j, double *v)=0;
 
    virtual bool getEncoders(double *encs)=0;
 
    virtual bool getEncoderSpeed(int j, double *sp)=0;
 
    virtual bool getEncoderSpeeds(double *spds)=0;
 
    virtual bool getEncoderAcceleration(int j, double *spds)=0;
 
    virtual bool getEncoderAccelerations(double *accs)=0;
};
 
// interface IEncoders sets
constexpr yarp::conf::vocab32_t VOCAB_E_RESET  = yarp::os::createVocab32('e','r','e');
constexpr yarp::conf::vocab32_t VOCAB_E_RESETS = yarp::os::createVocab32('e','r','e','s');
constexpr yarp::conf::vocab32_t VOCAB_ENCODER  = yarp::os::createVocab32('e','n','c');
constexpr yarp::conf::vocab32_t VOCAB_ENCODERS = yarp::os::createVocab32('e','n','c','s');
 
// interface IEncoders gets
constexpr yarp::conf::vocab32_t VOCAB_ENCODER_SPEED         = yarp::os::createVocab32('e','s','p');
constexpr yarp::conf::vocab32_t VOCAB_ENCODER_SPEEDS        = yarp::os::createVocab32('e','s','p','s');
constexpr yarp::conf::vocab32_t VOCAB_ENCODER_ACCELERATION  = yarp::os::createVocab32('e','a','c');
constexpr yarp::conf::vocab32_t VOCAB_ENCODER_ACCELERATIONS = yarp::os::createVocab32('e','a','c','s');
 
#endif // YARP_DEV_IENCODERS_H