controlboardinterfaces.h

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};

/**
 * @ingroup dev_iface_motor
 *
 * Interface for a generic control board device implementing position control.
 */
class yarp::dev::IPositionControl
{
public:
    /**
     * Destructor.
     */
    virtual ~IPositionControl() {}

    /**
     * Get the number of controlled axes. This command asks the number of controlled
     * axes for the current physical interface.
     * @param ax pointer to storage
     * @return true/false.
     */
    virtual bool getAxes(int *ax) = 0;

    /** Set position mode. This command
     * is required by control boards implementing different
     * control methods (e.g. velocity/torque), in some cases
     * it can be left empty.
     * return true/false on success/failure
     */
    virtual bool setPositionMode()=0;

    /** Set new reference point for a single axis.
     * @param j joint number
     * @param ref specifies the new ref point
     * @return true/false on success/failure
     */
    virtual bool positionMove(int j, double ref)=0;

    /** Set new reference point for all axes.
     * @param refs array, new reference points.
     * @return true/false on success/failure
     */
    virtual bool positionMove(const double *refs)=0;

    /** Set relative position. The command is relative to the 
     * current position of the axis.
     * @param j joint axis number
     * @param delta relative command
     * @return true/false on success/failure
     */
    virtual bool relativeMove(int j, double delta)=0;

    /** Set relative position, all joints.
     * @param deltas pointer to the relative commands
     * @return true/false on success/failure
     */
    virtual bool relativeMove(const double *deltas)=0;

    /** Check if the current trajectory is terminated. Non blocking.
     * @return true if the trajectory is terminated, false otherwise
     */
    virtual bool checkMotionDone(int j, bool *flag)=0;

    /** Check if the current trajectory is terminated. Non blocking.
     * @return true if the trajectory is terminated, false otherwise
     */
    virtual bool checkMotionDone(bool *flag)=0;

    /** Set reference speed for a joint, this is the speed used during the
     * interpolation of the trajectory.
     * @param j joint number
     * @param sp speed value
     * @return true/false upon success/failure
     */
    virtual bool setRefSpeed(int j, double sp)=0;

    /** Set reference speed on all joints. These values are used during the
     * interpolation of the trajectory.
     * @param spds pointer to the array of speed values.
     * @return true/false upon success/failure
     */
    virtual bool setRefSpeeds(const double *spds)=0;

    /** Set reference acceleration for a joint. This value is used during the
     * trajectory generation.
     * @param j joint number
     * @param acc acceleration value
     * @return true/false upon success/failure
     */
    virtual bool setRefAcceleration(int j, double acc)=0;

    /** Set reference acceleration on all joints. This is the valure that is
     * used during the generation of the trajectory.
     * @param accs pointer to the array of acceleration values
     * @return true/false upon success/failure
     */
    virtual bool setRefAccelerations(const double *accs)=0;

    /** Get reference speed for a joint. Returns the speed used to 
     * generate the trajectory profile.
     * @param j joint number
     * @param ref pointer to storage for the return value
     * @return true/false on success or failure
     */
    virtual bool getRefSpeed(int j, double *ref)=0;

    /** Get reference speed of all joints. These are the  values used during the
     * interpolation of the trajectory.
     * @param spds pointer to the array that will store the speed values.
     */
    virtual bool getRefSpeeds(double *spds)=0;

    /** Get reference acceleration for a joint. Returns the acceleration used to 
     * generate the trajectory profile.
     * @param j joint number
     * @param acc pointer to storage for the return value
     * @return true/false on success/failure
     */
    virtual bool getRefAcceleration(int j, double *acc)=0;

    /** Get reference acceleration of all joints. These are the values used during the
     * interpolation of the trajectory.
     * @param accs pointer to the array that will store the acceleration values.
     * @return true/false on success or failure 
     */
    virtual bool getRefAccelerations(double *accs)=0;

    /** Stop motion, single joint
     * @param j joint number
     * @return true/false on success/failure
     */
    virtual bool stop(int j)=0;

    /** Stop motion, multiple joints 
     * @return true/false on success/failure
     */
    virtual bool stop()=0;
};

/**
 * @ingroup dev_iface_motor
 *
 * Interface for control boards implementig velocity control in encoder coordinates.
 */
class yarp::dev::IVelocityControlRaw
{
public:
    /**
     * Destructor.
     */
    virtual ~IVelocityControlRaw() {}

    /**
     * Get the number of controlled axes. This command asks the number of controlled
     * axes for the current physical interface.
     * @param axis pointer to storage, return value
     * @return true/false.
     */
    virtual bool getAxes(int *axis) = 0;

    /**
     * Set position mode. This command
     * is required by control boards implementing different
     * control methods (e.g. velocity/torque), in some cases
     * it can be left empty.
     * @return true/false on success failure
     */
    virtual bool setVelocityMode()=0;

    /**
     * Start motion at a given speed, single joint.
     * @param j joint number
     * @param sp speed value
     * @return bool/false upone success/failure
     */
    virtual bool velocityMoveRaw(int j, double sp)=0;

    /**
     * Start motion at a given speed, multiple joints.
     * @param sp pointer to the array containing the new speed values
     * @return true/false upon success/failure
     */
    virtual bool velocityMoveRaw(const double *sp)=0;

    /** Set reference acceleration for a joint. This value is used during the
     * trajectory generation.
     * @param j joint number
     * @param acc acceleration value
     * @return true/false upon success/failure
     */
    virtual bool setRefAccelerationRaw(int j, double acc)=0;

    /** Set reference acceleration on all joints. This is the valure that is
     * used during the generation of the trajectory.
     * @param accs pointer to the array of acceleration values
     * @return true/false upon success/failure
     */
    virtual bool setRefAccelerationsRaw(const double *accs)=0;
 
    /** Get reference acceleration for a joint. Returns the acceleration used to 
     * generate the trajectory profile.
     * @param j joint number
     * @param acc pointer to storage for the return value
     * @return true/false on success/failure
     */
    virtual bool getRefAccelerationRaw(int j, double *acc)=0;

    /** Get reference acceleration of all joints. These are the values used during the
     * interpolation of the trajectory.
     * @param accs pointer to the array that will store the acceleration values.
     * @return true/false on success or failure 
     */
    virtual bool getRefAccelerationsRaw(double *accs)=0;

    /** Stop motion, single joint
     * @param j joint number
     * @return true/false on success or failure
     */
    virtual bool stopRaw(int j)=0;

    /** Stop motion, multiple joints 
     * @return true/false on success or failure
     */
    virtual bool stopRaw()=0;
};

/**
 * @ingroup dev_iface_motor
 *
 * Interface for control boards implementing velocity control.
 */
class yarp::dev::IVelocityControl
{
public:
    /**
     * Destructor.
     */
    virtual ~IVelocityControl() {}

    /**
     * Get the number of controlled axes. This command asks the number of controlled
     * axes for the current physical interface.
     * parame axes pointer to storage
     * @return true/false.
     */
    virtual bool getAxes(int *axes) = 0;

    /**
     * Set position mode. This command
     * is required by control boards implementing different
     * control methods (e.g. velocity/torque), in some cases
     * it can be left empty.
     * @return true/false on success failure
     */
    virtual bool setVelocityMode()=0;

    /**
     * Start motion at a given speed, single joint.
     * @param j joint number
     * @param sp speed value
     * @return bool/false upone success/failure
     */
    virtual bool velocityMove(int j, double sp)=0;

    /**
     * Start motion at a given speed, multiple joints.
     * @param sp pointer to the array containing the new speed values
     * @return true/false upon success/failure
     */
    virtual bool velocityMove(const double *sp)=0;

    /** Set reference acceleration for a joint. This value is used during the
     * trajectory generation.
     * @param j joint number
     * @param acc acceleration value
     * @return true/false upon success/failure
     */
    virtual bool setRefAcceleration(int j, double acc)=0;

    /** Set reference acceleration on all joints. This is the valure that is
     * used during the generation of the trajectory.
     * @param accs pointer to the array of acceleration values
     * @return true/false upon success/failure
     */
    virtual bool setRefAccelerations(const double *accs)=0;
 
    /** Get reference acceleration for a joint. Returns the acceleration used to 
     * generate the trajectory profile.
     * @param j joint number
     * @param acc pointer to storage for the return value
     * @return true/false on success/failure
     */
    virtual bool getRefAcceleration(int j, double *acc)=0;

    /** Get reference acceleration of all joints. These are the values used during the
     * interpolation of the trajectory.
     * @param accs pointer to the array that will store the acceleration values.
     * @return true/false on success or failure 
     */
    virtual bool getRefAccelerations(double *accs)=0;

    /** Stop motion, single joint
     * @param j joint number
     * @return true/false on success or failure
     */
    virtual bool stop(int j)=0;

    /** Stop motion, multiple joints 
     * @return true/false on success or failure
     */
    virtual bool stop()=0;
};

/**
 * @ingroup dev_iface_motor
 *
 * Interface for control boards implementing torque control.
 */
class yarp::dev::ITorqueControlRaw
{
public:
    /**
     * Destructor.
     */
    virtual ~ITorqueControlRaw() {}

    /**
     * Get the number of controlled axes. This command asks the number of controlled
     * axes for the current physical interface.
     * @return the number of controlled axes.
     */
    virtual bool getAxes(int *ax) = 0;

    /**
     * Set torque control mode. This command
     * is required by control boards implementing different
     * control methods (e.g. velocity/torque), in some cases
     * it can be left empty.
     * @return true/false on success failure
     */
    virtual bool setTorqueMode()=0;

    /** Get the value of the torque on a given joint.
     * @param j joint number
     * @return torque value
     */
    virtual double getRefTorqueRaw(int j)=0;

    /** Get the value of the torque for all joints.
     * @param t pointer to the array that will store the output
     */
    virtual void getRefTorquesRaw(double *t)=0;

    /** Set the reference value of the torque for all joints.
     * @param t pointer to the array of torque values
     * @return true/false
     */
    virtual bool setTorquesRaw(const double *t)=0;

    /** Set the reference value of the torque for a given joint.
     * @param j joint number
     * @param t new value
     */
    virtual void setTorqueRaw(int j, double t)=0;
};

/**
 * @ingroup dev_iface_motor
 *
 * Control board, encoder interface.
 */
class yarp::dev::IEncodersRaw
{
public:
    /**
     * Destructor.
     */
    virtual ~IEncodersRaw() {}

    /**
     * Get the number of controlled axes. This command asks the number of controlled
     * axes for the current physical interface.
     * @return the number of controlled axes.
     */
    virtual bool getAxes(int *ax) = 0;

    /**
     * Reset encoder, single joint. Set the encoder value to zero 
     * @param j encoder number
     * @return true/false
     */
    virtual bool resetEncoderRaw(int j)=0;

    /**
     * Reset encoders. Set the encoders value to zero 
     * @return true/false
     */
    virtual bool resetEncodersRaw()=0;

    /**
     * Set the value of the encoder for a given joint. 
     * @param j encoder number
     * @param val new value
     * @return true/false
     */
    virtual bool setEncoderRaw(int j, double val)=0;

    /**
     * Set the value of all encoders.
     * @param vals pointer to the new values
     * @return true/false
     */
    virtual bool setEncodersRaw(const double *vals)=0;

    /**
     * Read the value of an encoder.
     * @param j encoder number
     * @param v pointer to storage for the return value
     * @return true/false, upon success/failure (you knew it, uh?)
     */
    virtual bool getEncoderRaw(int j, double *v)=0;

    /**
     * Read the position of all axes.
     * @param encs pointer to the array that will contain the output
     * @return true/false on success/failure
     */
    virtual bool getEncodersRaw(double *encs)=0;

    /**
     * Read the instantaneous speed of an axis.
     * @param j axis number
     * @param sp pointer to storage for the output
     * @return true if successful, false ... otherwise.
     */
    virtual bool getEncoderSpeedRaw(int j, double *sp)=0;

    /**
     * Read the instantaneous acceleration of an axis.
     * @param spds pointer to storage for the output values
     * @return guess what? (true/false on success or failure).
     */
    virtual bool getEncoderSpeedsRaw(double *spds)=0;
    
    /**
     * Read the instantaneous acceleration of an axis.
     * @param j axis number
     * @param spds pointer to the array that will contain the output
     */
    virtual bool getEncoderAccelerationRaw(int j, double *spds)=0;

    /**
     * Read the instantaneous acceleration of all axes.
     * @param accs pointer to the array that will contain the output
     * @return true if all goes well, false if anything bad happens. 
     */