ICartesianSolver.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __I_CARTESIAN_SOLVER__
#define __I_CARTESIAN_SOLVER__
 
#include <vector>
#include <yarp/os/Vocab.h>
 
namespace roboticslab
{
 
class ICartesianSolver
{
public:
    enum reference_frame
    {
        BASE_FRAME = yarp::os::createVocab32('c','p','f','b'), 
        TCP_FRAME = yarp::os::createVocab32('c','p','f','t')   
    };
 
    virtual ~ICartesianSolver() = default;
 
    virtual int getNumJoints() = 0;
 
    virtual int getNumTcps() = 0;
 
    virtual bool appendLink(const std::vector<double>& x) = 0;
 
    virtual bool restoreOriginalChain() = 0;
 
    virtual bool changeOrigin(const std::vector<double> &x_old_obj,
                              const std::vector<double> &x_new_old,
                              std::vector<double> &x_new_obj) = 0;
 
    virtual bool fwdKin(const std::vector<double> &q, std::vector<double> &x) = 0;
 
    virtual bool poseDiff(const std::vector<double> &xLhs, const std::vector<double> &xRhs, std::vector<double> &xOut) = 0;
 
    virtual bool invKin(const std::vector<double> &xd, const std::vector<double> &qGuess, std::vector<double> &q,
                        reference_frame frame = BASE_FRAME) = 0;
 
    virtual bool diffInvKin(const std::vector<double> &q, const std::vector<double> &xdot, std::vector<double> &qdot,
                            reference_frame frame = BASE_FRAME) = 0;
 
    virtual bool invDyn(const std::vector<double> &q, std::vector<double> &t) = 0;
 
#ifndef SWIG_PREPROCESSOR_SHOULD_SKIP_THIS
    [[deprecated("use `const std::vector<double> &ftip` signature instead")]]
    virtual bool invDyn(const std::vector<double> &q, const std::vector<double> &qdot, const std::vector<double> &qdotdot,
                        const std::vector<std::vector<double>> &fexts, std::vector<double> &t)
    {
        return invDyn(q, qdot, qdotdot, fexts.back(), t);
    }
#endif
 
    virtual bool invDyn(const std::vector<double> &q, const std::vector<double> &qdot, const std::vector<double> &qdotdot,
                        const std::vector<double> &ftip, std::vector<double> &t, reference_frame frame = BASE_FRAME) = 0;
};
 
} // namespace roboticslab
 
#endif // __I_CARTESIAN_SOLVER__