pointing_far.h

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/* 
 * Copyright (C) 2017 iCub Facility - Istituto Italiano di Tecnologia
 * Author: Ugo Pattacini
 * email:  ugo.pattacini@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
#include <yarp/os/Property.h>
#include <yarp/dev/CartesianControl.h>
#include <yarp/sig/Vector.h>
 
 
struct PointingFar
{
public:
    static bool compute(yarp::dev::ICartesianControl *iarm,
                        const yarp::os::Property& requirements,
                        yarp::sig::Vector& q, yarp::sig::Vector& x);
 
    static bool point(yarp::dev::ICartesianControl *iarm,
                      const yarp::sig::Vector& q, const yarp::sig::Vector& x);
};