New abstract class DQ_CoppeliaSimInterface

interfaces/coppeliasim/DQ_CoppeliaSimInterface.m

@@ -0,0 +1,117 @@
+% (C) Copyright 2024 DQ Robotics Developers
+%
+% This file is part of DQ Robotics.
+%
+%     DQ Robotics is free software: you can redistribute it and/or modify
+%     it under the terms of the GNU Lesser General Public License as published by
+%     the Free Software Foundation, either version 3 of the License, or
+%     (at your option) any later version.
+%
+%     DQ Robotics is distributed in the hope that it will be useful,
+%     but WITHOUT ANY WARRANTY; without even the implied warranty of
+%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%     GNU Lesser General Public License for more details.
+%
+%     You should have received a copy of the GNU Lesser General Public License
+%     along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+%
+% DQ Robotics website: dqrobotics.github.io
+%
+% Contributors to this file:
+%
+%     1. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
+%        - Responsible for the original implementation.
+
+classdef (Abstract)  DQ_CoppeliaSimInterface < handle
+
+    properties (Access = protected) 
+    end
+
+    methods (Access = protected) 
+        % function obj = DQ_CoppeliaSim(inputArg1,inputArg2)
+        % end
+    end
+
+    methods(Abstract)
+        % This method connects to CoppeliaSim.
+        % Calling this function is required before anything else can happen.
+        connect(obj, host, port, TIMEOUT_IN_MILISECONDS);
+
+        % This method enables or disables the stepped (synchronous) mode
+        % for the remote API server service that the client is connected to.
+        % Example:
+        %       set_stepping_mode(true)    % stepping mode enabled
+        %       set_stepping_mode(false)   % stepping mode disabled
+        set_stepping_mode(obj, flag);
+
+        % This method sends trigger signal to the CoppeliaSim scene, 
+        % which performs a simulation step when the stepping mode is used.
+        trigger_next_simulation_step(obj);
+
+        % This method starts the CoppeliaSim simulation.
+        start_simulation(obj);
+
+        % This method stops the CoppeliaSim simulation.
+        stop_simulation(obj);
+
+        % This method gets the handles for a cell array of 
+        % object names in the the CoppeliaSim scene.
+        handles = get_handles(obj,names);
+
+        % This method gets the handle for a given object in the CoppeliaSim scene. 
+        handle = get_handle(obj,name);
+
+        % This method gets the translation of an object in the CoppeliaSim scene.
+        t = get_object_translation(obj,objectname);
+
+        % This method sets the translation of an object in the CoppeliaSim scene.
+        set_object_translation(obj,objectname,translation);
+
+        % This method gets the rotation of an object in the CoppeliaSim scene.
+        r = get_object_rotation(obj, objectname);
+
+        % This method sets the rotation of an object in the CoppeliaSim scene.
+        set_object_rotation(obj,objectname,rotation);
+
+        % This method gets the pose of an object in the CoppeliaSim scene. 
+        x = get_object_pose(obj,objectname);
+
+        % This method sets the pose of an object in the CoppeliaSim scene. 
+        set_object_pose(obj,objectname,pose);
+
+        % This method sets the joint positions of a robot in the CoppeliaSim scene.        
+        set_joint_positions(obj,jointnames,joint_positions);
+
+        % This method sets the joint positions of a robot in the CoppeliaSim scene. 
+        joint_positions = get_joint_positions(obj,jointnames);
+
+        % This method sets the joint target positions of a robot in the CoppeliaSim scene. 
+        % It is required a dynamics enabled scene, and joints in dynamic mode 
+        % with position control mode. 
+        % information about joint modes:
+        % https://www.coppeliarobotics.com/helpFiles/en/jointModes.htm
+        set_joint_target_positions(obj,jointnames,joint_target_positions);
+
+        % This method gets the joint velocities of a robot in the CoppeliaSim scene. 
+        joint_velocities = get_joint_velocities(obj,jointnames);
+
+        % This method sets the joint target velocities of a robot in the CoppeliaSim scene.
+        % It is required a dynamics enabled scene, and joints in dynamic mode 
+        % with velocity control mode. Check this link for more
+        % information about joint modes:
+        % https://www.coppeliarobotics.com/helpFiles/en/jointModes.htm
+        set_joint_target_velocities(obj,jointnames,joint_target_velocities);
+
+        % This method sets the joint torques of a robot in the CoppeliaSim scene.
+        % It is required a dynamics enabled scene, and joints in dynamic mode 
+        % with velocity or force/torque control mode. Check this link for more
+        % information about joint modes:
+        % https://www.coppeliarobotics.com/helpFiles/en/jointModes.htm
+        set_joint_torques(obj,jointnames,torques);  
+
+        % This method gets the joint torques of a robot in the CoppeliaSim scene.
+        joint_torques = get_joint_torques(obj,jointnames);
+    end
+end
+
+