robot_controller.h

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#ifndef ROBOT_CONTROLLER_H
#define ROBOT_CONTROLLER_H

#include <Eigen/Core>

class RobotController {
    public:
        virtual bool delta_move(const Eigen::VectorXd& move) = 0;
        virtual bool rt_delta_move(const Eigen::VectorXd& delta) = 0;
        virtual Eigen::VectorXd get_jnt_state() = 0;
        virtual Eigen::VectorXd get_used_jnt_state() = 0;

        virtual size_t get_dof() {
            ROS_INFO_STREAM("WRONG!");
            return 0;
        };

        virtual std::vector<int> get_used_joints() = 0;

        virtual void set_target_joint_pose(Eigen::VectorXd target) = 0;
        virtual Eigen::VectorXd map_joints(const Eigen::VectorXd& delta) = 0;
        virtual void set_used_joints(std::string) = 0;
        virtual void set_used_joints(std::vector<int> new_joints) = 0;
};

#endif //ROBOT_CONTROLLER_H