ControlledIF.h

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/* ============================================================
 *
 * This file is a part of RCI project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <iostream>

#include "rci/ControlMode.h"
#include "rci/dto/JointAngles.h"
#include "rci/dto/JointTorques.h"
#include "rci/dto/JointImpedance.h"
#include "rci/dto/JointVelocities.h"
#include "rci/dto/Pressure.h"
#include "rci/dto/Length.h"
#include "rci/dto/CartesianPose.h"

namespace rci {

class ControlledIF {

public:
    virtual bool isConverged() const = 0;

    virtual ControlModePtr getControlMode() =0;

    virtual void setControlMode(ControlModePtr controlMode) =0;

protected:
    ~ControlledIF() {
    }
};

class PositionControlledIF {

public:
    virtual bool setJointPosition(JointAnglesPtr position) = 0;

    virtual JointAnglesPtr getLastPositionCommand() const =0;

protected:
    ~PositionControlledIF() {
    }
};

class VelocityControlledIF {

public:
    virtual bool setJointVelocity(JointVelocitiesPtr velocity) = 0;

    virtual JointVelocitiesPtr getLastVelocityCommand() const =0;

protected:
    ~VelocityControlledIF() {
    }

};

class TorqueControlledIF {

public:
    virtual bool setJointTorque(JointTorquesPtr position) = 0;

    virtual JointTorquesPtr getLastTorqueCommand() const =0;

protected:
    ~TorqueControlledIF() {
    }
};

class ImpedanceControlledIF {

public:
    virtual bool setJointImpedance(JointImpedancePtr impedance) = 0;

    virtual JointImpedancePtr getLastImpedanceCommand() const =0;

protected:
    ~ImpedanceControlledIF() {
    }
};

class PressureControlledIF {

public:
    virtual bool setPressure(PressurePtr pressure) = 0;

    virtual PressurePtr getLastPressureCommand() const =0;

protected:
    ~PressureControlledIF() {
    }
};

class LengthControlledIF {

public:
    virtual bool setLength(LengthPtr Length) = 0;

    virtual LengthPtr getLastLengthCommand() const =0;

protected:
    ~LengthControlledIF() {
    }
};

class PoseControlledIF {

public:
    virtual bool setPose(PosePtr pose) = 0;

    virtual PosePtr getLastPoseCommand() const =0;

protected:
    ~PoseControlledIF() {
    }
};

}