RobotInterface.h

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/*
 * Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * GNU Lesser General Public License v2.1 or any later version.
 */
 
#ifndef WBT_ROBOTINTERFACE_H
#define WBT_ROBOTINTERFACE_H
 
#include <memory>
#include <string>
#include <unordered_map>
#include <utility>
 
namespace yarp {
    namespace dev {
        class IPositionControl;
        class IPositionDirect;
        class IVelocityControl;
        class ITorqueControl;
        class IPWMControl;
        class IControlMode;
        class ICurrentControl;
        class IEncoders;
        class IMotorEncoders;
        class IControlLimits;
        class IPidControl;
    } // namespace dev
} // namespace yarp
 
namespace iDynTree {
    class KinDynComputations;
}
 
namespace wbt {
    namespace base {
        class RobotInterface;
        class Configuration;
 
        using JointIndex_Yarp = int;
        using JointIndex_iDynTree = int;
        using JointName = std::string;
    } // namespace base
} // namespace wbt
 
class wbt::base::RobotInterface
{
private:
    class impl;
    std::unique_ptr<impl> pImpl;
 
public:
    // CONSTRUCTOR / DESTRUCTOR
    // ========================
 
    RobotInterface() = delete;
    RobotInterface(const wbt::base::Configuration& config);
    ~RobotInterface();
 
    // GET METHODS
    // ===========
 
    const wbt::base::Configuration& getConfiguration() const;
 
    const std::shared_ptr<iDynTree::KinDynComputations> getKinDynComputations();
 
    template <typename T>
    bool getInterface(T*& interface);
};
 
// Specialize the getInterface template
namespace wbt {
    namespace base {
        template <>
        bool RobotInterface::getInterface(yarp::dev::IControlMode*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::IPositionControl*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::IPositionDirect*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::IVelocityControl*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::ITorqueControl*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::IPWMControl*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::ICurrentControl*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::IEncoders*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::IMotorEncoders*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::IControlLimits*& interface);
        template <>
        bool RobotInterface::getInterface(yarp::dev::IPidControl*& interface);
    } // namespace base
} // namespace wbt
 
#endif // WBT_ROBOTINTERFACE_H