ICartesianSolver.h

// -*- 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>
 
#include <yarp/dev/ReturnValue.h>
 
namespace roboticslab
{
 
class ICartesianSolver
{
public:
    enum class Frame
    {
        BASE = yarp::os::createVocab32('c','p','f','b'), 
        TCP = yarp::os::createVocab32('c','p','f','t')   
    };
 
    virtual ~ICartesianSolver() = default;
 
    virtual yarp::dev::ReturnValue getNumJoints(std::size_t & numJoints) = 0;
 
    virtual yarp::dev::ReturnValue getNumTcps(std::size_t & numTcps) = 0;
 
    virtual yarp::dev::ReturnValue appendLink(const std::vector<double> & x) = 0;
 
    virtual yarp::dev::ReturnValue restoreOriginalChain() = 0;
 
    virtual yarp::dev::ReturnValue changeOrigin(const std::vector<double> & x_old_obj,
                                                const std::vector<double> & x_new_old,
                                                std::vector<double> & x_new_obj) = 0;
 
    virtual yarp::dev::ReturnValue forwardKinematics(const std::vector<double> & q, std::vector<double> & x) = 0;
 
    virtual yarp::dev::ReturnValue poseDiff(const std::vector<double> & xLhs, const std::vector<double> & xRhs, std::vector<double> & xOut) = 0;
 
    virtual yarp::dev::ReturnValue inverseKinematics(const std::vector<double> & xd, const std::vector<double> & qGuess, std::vector<double> & q,
                                                     Frame frame = Frame::BASE) = 0;
 
    virtual yarp::dev::ReturnValue diffInverseKinematics(const std::vector<double> & q, const std::vector<double> & xdot, std::vector<double> & qdot,
                                                         Frame frame = Frame::BASE) = 0;
 
    virtual yarp::dev::ReturnValue inverseDynamics(const std::vector<double> & q, std::vector<double> & t) = 0;
 
    virtual yarp::dev::ReturnValue inverseDynamics(const std::vector<double> & q, const std::vector<double> & qdot, const std::vector<double> & qdotdot,
                                                   const std::vector<double> & ftip, std::vector<double> & t, Frame frame = Frame::BASE) = 0;
 
 
#ifndef SWIG_PREPROCESSOR_SHOULD_SKIP_THIS
    enum reference_frame
    {
        BASE_FRAME [[deprecated("use `ICartesianSolver::Frame::Base` instead")]] = static_cast<int>(Frame::BASE),
        TCP_FRAME  [[deprecated("use `ICartesianSolver::Frame::TCP` instead")]]  = static_cast<int>(Frame::TCP)
    };
 
    [[deprecated("use `ICartesianSolver::Frame` signature instead")]]
    virtual bool invKin(const std::vector<double> & xd, const std::vector<double> & qGuess, std::vector<double> & q, reference_frame frame = static_cast<reference_frame>(Frame::BASE))
    { return inverseKinematics(xd, qGuess, q, static_cast<Frame>(frame)); }
 
    [[deprecated("use `ICartesianSolver::Frame` signature instead")]]
    virtual bool diffInvKin(const std::vector<double> & q, const std::vector<double> & xdot, std::vector<double> & qdot, reference_frame frame = static_cast<reference_frame>(Frame::BASE))
    { return diffInverseKinematics(q, xdot, qdot, static_cast<Frame>(frame)); }
 
    [[deprecated("use `ICartesianSolver::Frame` signature instead")]]
    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 = static_cast<reference_frame>(Frame::BASE))
    { return inverseDynamics(q, qdot, qdotdot, ftip, t, static_cast<Frame>(frame)); }
#endif // SWIG_PREPROCESSOR_SHOULD_SKIP_THIS
};
 
} // namespace roboticslab
 
#endif // __I_CARTESIAN_SOLVER__