ReflexxesAPI.h

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#ifndef __ReflexxesAPI__
#define __ReflexxesAPI__


#include "RMLPositionInputParameters.h"
#include "RMLPositionOutputParameters.h"
#include "RMLPositionFlags.h"
#include "RMLVelocityInputParameters.h"
#include "RMLVelocityOutputParameters.h"
#include "RMLVelocityFlags.h"
#include "RMLVector.h"


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class ReflexxesAPI
{
public:

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    ReflexxesAPI(       const unsigned int  &DegreesOfFreedom
                    ,   const double        &CycleTimeInSeconds
                    ,   const unsigned int  &NumberOfAdditionalThreads = 0);


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    ~ReflexxesAPI(void);


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    enum RMLResultValue
    {
        RML_WORKING                             =   0,
        RML_FINAL_STATE_REACHED                 =   1,
        RML_ERROR                               =   -1,
        RML_ERROR_INVALID_INPUT_VALUES          =   -100,
        RML_ERROR_EXECUTION_TIME_CALCULATION    =   -101,
        RML_ERROR_SYNCHRONIZATION               =   -102,
        RML_ERROR_NUMBER_OF_DOFS                =   -103,
        RML_ERROR_NO_PHASE_SYNCHRONIZATION      =   -104,
        RML_ERROR_NULL_POINTER                  =   -105,
        RML_ERROR_EXECUTION_TIME_TOO_BIG        =   -106,
        RML_ERROR_USER_TIME_OUT_OF_RANGE        =   -107
    };


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    int RMLPosition(    const RMLPositionInputParameters    &InputValues
                    ,   RMLPositionOutputParameters         *OutputValues
                    ,   const RMLPositionFlags              &Flags);


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    int RMLPositionAtAGivenSampleTime(      const double                        &TimeValueInSeconds
                                        ,   RMLPositionOutputParameters         *OutputValues);


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    int RMLVelocity(    const RMLVelocityInputParameters    &InputValues
                    ,   RMLVelocityOutputParameters         *OutputValues
                    ,   const RMLVelocityFlags              &Flags);



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    int RMLVelocityAtAGivenSampleTime(      const double                        &TimeValueInSeconds
                                        ,   RMLVelocityOutputParameters         *OutputValues);

protected:

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    unsigned int        NumberOfDOFs;


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    unsigned int        NumberOfOwnThreads;


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    double              CycleTime;


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    void                *RMLPositionObject;


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    void                *RMLVelocityObject;

};  // class ReflexxesAPI


#endif