ITorqueControl.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_ITORQUECONTROL_H
#define YARP_DEV_ITORQUECONTROL_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
 
namespace yarp::dev {
class ITorqueControlRaw;
class ITorqueControl;
class MotorTorqueParameters;
}
 
class YARP_dev_API yarp::dev::MotorTorqueParameters
{
    public:
    double bemf;
    double bemf_scale;
    double ktau;
    double ktau_scale;
    double viscousPos;
    double viscousNeg;
    double coulombPos;
    double coulombNeg;
    MotorTorqueParameters() : bemf(0), bemf_scale(0), ktau(0), ktau_scale(0), viscousPos(0), viscousNeg(0), coulombPos(0), coulombNeg(0) {};
};
 
class YARP_dev_API yarp::dev::ITorqueControl
{
public:
    virtual ~ITorqueControl() {}
 
    virtual bool getAxes(int *ax) = 0;
 
    virtual bool getRefTorques(double *t)=0;
 
    virtual bool getRefTorque(int j, double *t)=0;
 
    virtual bool setRefTorques(const double *t)=0;
 
    virtual bool setRefTorque(int j, double t)=0;
 
    virtual bool setRefTorques(const int n_joint, const int *joints, const double *t) {return false;}  // this function has a default implementation to keep backward compatibility with existing devices
 
    virtual bool getMotorTorqueParams(int j,  yarp::dev::MotorTorqueParameters *params) {return false;}
 
    virtual bool setMotorTorqueParams(int j,  const yarp::dev::MotorTorqueParameters params) {return false;}
 
    virtual bool getTorque(int j, double *t)=0;
 
    virtual bool getTorques(double *t)=0;
 
    virtual bool getTorqueRange(int j, double *min, double *max)=0;
 
    virtual bool getTorqueRanges(double *min, double *max)=0;
};
 
class YARP_dev_API yarp::dev::ITorqueControlRaw
{
public:
    virtual ~ITorqueControlRaw() {}
 
    virtual bool getAxes(int *ax) = 0;
 
    virtual bool getTorqueRaw(int j, double *t)=0;
 
    virtual bool getTorquesRaw(double *t)=0;
 
    virtual bool getTorqueRangeRaw(int j, double *min, double *max)=0;
 
    virtual bool getTorqueRangesRaw(double *min, double *max)=0;
 
    virtual bool setRefTorquesRaw(const double *t)=0;
 
    virtual bool setRefTorqueRaw(int j, double t)=0;
 
    virtual bool setRefTorquesRaw(const int n_joint, const int *joints, const double *t) {return false;}  // this function has a default implementation to keep backward compatibility with existing devices
 
    virtual bool getRefTorquesRaw(double *t)=0;
 
    virtual bool getRefTorqueRaw(int j, double *t)=0;
 
    virtual bool getMotorTorqueParamsRaw(int j,  yarp::dev::MotorTorqueParameters *params) {return false;}
 
    virtual bool setMotorTorqueParamsRaw(int j,  const yarp::dev::MotorTorqueParameters params) {return false;}
};
 
constexpr yarp::conf::vocab32_t VOCAB_TORQUE            = yarp::os::createVocab32('t', 'o', 'r', 'q');
constexpr yarp::conf::vocab32_t VOCAB_TORQUE_MODE       = yarp::os::createVocab32('t', 'r', 'q', 'd');
constexpr yarp::conf::vocab32_t VOCAB_TRQS              = yarp::os::createVocab32('t', 'r', 'q', 's');
constexpr yarp::conf::vocab32_t VOCAB_TRQ               = yarp::os::createVocab32('t', 'r', 'q');
constexpr yarp::conf::vocab32_t VOCAB_BEMF              = yarp::os::createVocab32('b', 'm', 'f');
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_PARAMS      = yarp::os::createVocab32('m', 't', 'p', 's');
constexpr yarp::conf::vocab32_t VOCAB_RANGES            = yarp::os::createVocab32('r', 'n', 'g', 's');
constexpr yarp::conf::vocab32_t VOCAB_RANGE             = yarp::os::createVocab32('r', 'n', 'g');
constexpr yarp::conf::vocab32_t VOCAB_IMP_PARAM         = yarp::os::createVocab32('i', 'p', 'r');
constexpr yarp::conf::vocab32_t VOCAB_IMP_OFFSET        = yarp::os::createVocab32('i', 'o', 'f');
constexpr yarp::conf::vocab32_t VOCAB_TORQUES_DIRECTS       = yarp::os::createVocab32('d', 't', 'q', 's'); //This implements the setRefTorques for the whole part
constexpr yarp::conf::vocab32_t VOCAB_TORQUES_DIRECT        = yarp::os::createVocab32('d', 't', 'q'); //This implements the setRefTorque for a single joint
constexpr yarp::conf::vocab32_t VOCAB_TORQUES_DIRECT_GROUP  = yarp::os::createVocab32('d', 't', 'q', 'g'); //This implements the setRefTorques with joint list
 
#endif // YARP_DEV_ITORQUECONTROL_H