Add new parameter methods to ICartesianControl, prepare stub impl (#121)

roboticslab-uc3m · Jan 19, 2018 · 704de8a · 704de8a
1 parent cdc0133
commit 704de8a
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diff --git a/libraries/YarpPlugins/AmorCartesianControl/AmorCartesianControl.hpp b/libraries/YarpPlugins/AmorCartesianControl/AmorCartesianControl.hpp
@@ -79,6 +79,14 @@ class AmorCartesianControl : public yarp::dev::DeviceDriver, public ICartesianCo
 
     virtual void pose(const std::vector<double> &x, double interval);
 
+    virtual bool setParameter(int vocab, const std::string & value);
+
+    virtual bool getParameter(int vocab, std::string & value);
+
+    virtual bool setParameter(int vocab, double value);
+
+    virtual bool setParameter(int vocab, double * value);
+
     // -------- DeviceDriver declarations. Implementation in DeviceDriverImpl.cpp --------
 
     /**

diff --git a/libraries/YarpPlugins/AmorCartesianControl/ICartesianControlImpl.cpp b/libraries/YarpPlugins/AmorCartesianControl/ICartesianControlImpl.cpp
@@ -575,3 +575,31 @@ void roboticslab::AmorCartesianControl::pose(const std::vector<double> &x, doubl
 }
 
 // -----------------------------------------------------------------------------
+
+bool roboticslab::AmorCartesianControl::setParameter(int vocab, const std::string & value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::AmorCartesianControl::getParameter(int vocab, std::string & value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::AmorCartesianControl::setParameter(int vocab, double value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::AmorCartesianControl::setParameter(int vocab, double * value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
diff --git a/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.hpp b/libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.hpp
@@ -150,6 +150,14 @@ class BasicCartesianControl : public yarp::dev::DeviceDriver, public ICartesianC
 
         virtual void pose(const std::vector<double> &x, double interval);
 
+        virtual bool setParameter(int vocab, const std::string & value);
+
+        virtual bool getParameter(int vocab, std::string & value);
+
+        virtual bool setParameter(int vocab, double value);
+
+        virtual bool setParameter(int vocab, double * value);
+
         // -------- RateThread declarations. Implementation in RateThreadImpl.cpp --------
 
         /** Loop function. This is the thread itself. */

diff --git a/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp b/libraries/YarpPlugins/BasicCartesianControl/ICartesianControlImpl.cpp
@@ -586,3 +586,31 @@ void roboticslab::BasicCartesianControl::pose(const std::vector<double> &x, doub
 }
 
 // -----------------------------------------------------------------------------
+
+bool roboticslab::BasicCartesianControl::setParameter(int vocab, const std::string & value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::BasicCartesianControl::getParameter(int vocab, std::string & value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::BasicCartesianControl::setParameter(int vocab, double value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::BasicCartesianControl::setParameter(int vocab, double * value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
diff --git a/libraries/YarpPlugins/CartesianControlClient/CartesianControlClient.hpp b/libraries/YarpPlugins/CartesianControlClient/CartesianControlClient.hpp
@@ -101,6 +101,14 @@ class CartesianControlClient : public yarp::dev::DeviceDriver, public ICartesian
 
     virtual void pose(const std::vector<double> &x, double interval);
 
+    virtual bool setParameter(int vocab, const std::string & value);
+
+    virtual bool getParameter(int vocab, std::string & value);
+
+    virtual bool setParameter(int vocab, double value);
+
+    virtual bool setParameter(int vocab, double * value);
+
     // -------- DeviceDriver declarations. Implementation in IDeviceImpl.cpp --------
 
     /**

diff --git a/libraries/YarpPlugins/CartesianControlClient/ICartesianControlImpl.cpp b/libraries/YarpPlugins/CartesianControlClient/ICartesianControlImpl.cpp
@@ -261,3 +261,31 @@ void roboticslab::CartesianControlClient::pose(const std::vector<double> &x, dou
 }
 
 // -----------------------------------------------------------------------------
+
+bool roboticslab::CartesianControlClient::setParameter(int vocab, const std::string & value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::CartesianControlClient::getParameter(int vocab, std::string & value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::CartesianControlClient::setParameter(int vocab, double value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
+
+bool roboticslab::CartesianControlClient::setParameter(int vocab, double * value)
+{
+    return true;
+}
+
+// -----------------------------------------------------------------------------
diff --git a/libraries/YarpPlugins/ICartesianControl.h b/libraries/YarpPlugins/ICartesianControl.h
@@ -3,6 +3,7 @@
 #ifndef __I_CARTESIAN_CONTROL__
 #define __I_CARTESIAN_CONTROL__
 
+#include <string>
 #include <vector>
 
 #include <yarp/os/Vocab.h>
@@ -342,6 +343,54 @@ class ICartesianControl
          */
         virtual void pose(const std::vector<double> &x, double interval) = 0;
 
+        /**
+         * @brief Set a configuration parameter.
+         *
+         * Ask the controller to store or update a parameter of type std::string.
+         *
+         * @param vocab YARP-encoded vocab (parameter key).
+         * @param value Parameter value encoded as a string.
+         *
+         * @return true on success, false otherwise
+         */
+        virtual bool setParameter(int vocab, const std::string & value) = 0;
+
+        /**
+         * @brief Retrieve a configuration parameter.
+         *
+         * Ask the controller to retrieve a parameter of type std::string.
+         *
+         * @param vocab YARP-encoded vocab (parameter key).
+         * @param value Parameter value encoded as a string.
+         *
+         * @return true on success, false otherwise
+         */
+        virtual bool getParameter(int vocab, std::string & value) = 0;
+
+        /**
+         * @brief Set a configuration parameter.
+         *
+         * Ask the controller to store or update a parameter of type double.
+         *
+         * @param vocab YARP-encoded vocab (parameter key).
+         * @param value Parameter value encoded as a double.
+         *
+         * @return true on success, false otherwise
+         */
+        virtual bool setParameter(int vocab, double value) = 0;
+
+        /**
+         * @brief Retrieve a configuration parameter.
+         *
+         * Ask the controller to retrieve a parameter of type double.
+         *
+         * @param vocab YARP-encoded vocab (parameter key).
+         * @param value Parameter value encoded as a double.
+         *
+         * @return true on success, false otherwise
+         */
+        virtual bool setParameter(int vocab, double * value) = 0;
+
         /** @} */
 };