Save arm specific options with M500 disspaly with M503

[clinton/Smoothieware.git] / src / modules / robot / arm_solutions / BaseSolution.h

diff --git a/src/modules/robot/arm_solutions/BaseSolution.h b/src/modules/robot/arm_solutions/BaseSolution.h
dissimilarity index 65%
index ebf29f1..eecdd13 100644 (file)
--- a/src/modules/robot/arm_solutions/BaseSolution.h
+++ b/src/modules/robot/arm_solutions/BaseSolution.h
@@ -1,19 +1,20 @@
-// Base class for an arm solution, only usefull for inheritence. http://en.wikipedia.org/wiki/Arm_solution
-#ifndef BASESOLUTION_H
-#define BASESOLUTION_H
-
-class BaseSolution {
-    public:
-        BaseSolution();
-        virtual ~BaseSolution() {};
-        virtual void millimeters_to_steps( double millimeters[], int steps[] ) = 0;
-        virtual void steps_to_millimeters( int steps[], double millimeters[] ) = 0;
-
-        virtual void set_steps_per_millimeter( double steps[] ) = 0;
-        virtual void get_steps_per_millimeter( double steps[] ) = 0;
-
-        virtual bool set_optional(char parameter, double value) { return false; };
-        virtual bool get_optional(char parameter, double *value) { return false; };
-};
-
-#endif
+// Base class for an arm solution, only usefull for inheritence. http://en.wikipedia.org/wiki/Arm_solution
+#ifndef BASESOLUTION_H
+#define BASESOLUTION_H
+
+#include <map>
+class Config;
+
+class BaseSolution {
+    public:
+        BaseSolution(){};
+        BaseSolution(Config*){};
+        virtual ~BaseSolution() {};
+        virtual void cartesian_to_actuator( float[], float[] ) = 0;
+        virtual void actuator_to_cartesian( float[], float[] ) = 0;
+        typedef std::map<char, float> arm_options_t;
+        virtual bool set_optional(const arm_options_t& options) { return false; };
+        virtual bool get_optional(arm_options_t& options) { return false; };
+};
+
+#endif