VisualServoingIDL.h

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// This is an automatically-generated file.
// It could get re-generated if the ALLOW_IDL_GENERATION flag is on.

#ifndef YARP_THRIFT_GENERATOR_VisualServoingIDL
#define YARP_THRIFT_GENERATOR_VisualServoingIDL

#include <yarp/os/Wire.h>
#include <yarp/os/idl/WireTypes.h>

class VisualServoingIDL;


class VisualServoingIDL : public yarp::os::Wire {
public:
  VisualServoingIDL();
  virtual bool init_facilities(const bool use_direct_kin);
  virtual bool reset_facilities();
  virtual bool stop_facilities();
  virtual bool go_to_px_goal(const std::vector<std::vector<double> > & vec_px_l, const std::vector<std::vector<double> > & vec_px_r);
  virtual bool go_to_pose_goal(const std::vector<double> & vec_x, const std::vector<double> & vec_o);
  virtual bool set_modality(const std::string& mode);
  virtual bool set_visual_servo_control(const std::string& control);
  virtual bool set_control_point(const std::string& point);
  virtual std::vector<std::string>  get_visual_servoing_info();
  virtual bool set_go_to_goal_tolerance(const double tol);
  virtual bool check_visual_servoing_controller();
  virtual bool wait_visual_servoing_done(const double period, const double timeout);
  virtual bool stop_controller();
  virtual bool set_translation_gain(const double K_x_1, const double K_x_2);
  virtual bool set_max_translation_velocity(const double max_x_dot);
  virtual bool set_translation_gain_switch_tolerance(const double K_x_tol);
  virtual bool set_orientation_gain(const double K_o_1, const double K_o_2);
  virtual bool set_max_orientation_velocity(const double max_o_dot);
  virtual bool set_orientation_gain_switch_tolerance(const double K_o_tol);
  virtual std::vector<std::vector<double> >  get_3D_goal_positions_from_3D_pose(const std::vector<double> & x, const std::vector<double> & o);
  virtual std::vector<std::vector<double> >  get_goal_pixels_from_3D_pose(const std::vector<double> & x, const std::vector<double> & o, const std::string& cam);
  virtual bool quit();
  virtual bool stored_init(const std::string& label);
  virtual bool stored_go_to_goal(const std::string& label);
  virtual bool get_goal_from_sfm();
  virtual bool read(yarp::os::ConnectionReader& connection) override;
  virtual std::vector<std::string> help(const std::string& functionName="--all");
};

#endif