IRemoteCalibrator.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_REMOTECALIBRATOR_H
#define YARP_DEV_REMOTECALIBRATOR_H
 
#include <yarp/dev/DeviceDriver.h>
 
namespace yarp::dev {
 
class YARP_dev_API IRemoteCalibrator
{
private:
    yarp::dev::IRemoteCalibrator* _remoteCalibrator;
 
public:
    IRemoteCalibrator();
 
    virtual ~IRemoteCalibrator() = default;
 
    virtual bool setCalibratorDevice(yarp::dev::IRemoteCalibrator* dev);
 
    virtual yarp::dev::IRemoteCalibrator* getCalibratorDevice();
 
    virtual bool isCalibratorDevicePresent(bool* isCalib);
 
    virtual void releaseCalibratorDevice();
 
    virtual bool calibrateSingleJoint(int j) = 0;
 
    virtual bool calibrateWholePart() = 0;
 
    virtual bool homingSingleJoint(int j) = 0;
 
    virtual bool homingWholePart() = 0;
 
    virtual bool parkSingleJoint(int j, bool _wait = true) = 0;
 
    virtual bool parkWholePart() = 0;
 
    virtual bool quitCalibrate() = 0;
 
    virtual bool quitPark() = 0;
};
 
} // namespace yarp::dev
 
#endif // YARP_DEV_REMOTECALIBRATOR_H