pr2_mechanism_model: transmission.h Source File

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00034 /*
00035  * Author: Stuart Glaser
00036  */
00037 #ifndef TRANSMISSION_H
00038 #define TRANSMISSION_H
00039 
00040 #include <tinyxml/tinyxml.h>
00041 #include "pr2_mechanism_model/joint.h"
00042 #include "pr2_hardware_interface/hardware_interface.h"
00043 
00044 namespace pr2_mechanism_model {
00045 
00046 class Robot;
00047 
00048 class Transmission
00049 {
00050 public:
00052   Transmission() {}
00053 
00055   virtual ~Transmission() {}
00056 
00058   virtual bool initXml(TiXmlElement *config, Robot *robot) = 0;
00059 
00061   virtual void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
00062                                  std::vector<pr2_mechanism_model::JointState*>&) = 0;
00063 
00065   virtual void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
00066                                           std::vector<pr2_hardware_interface::Actuator*>&) = 0;
00067 
00069   virtual void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
00070                                std::vector<pr2_hardware_interface::Actuator*>&) = 0;
00071 
00073   virtual void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
00074                                         std::vector<pr2_mechanism_model::JointState*>&) = 0;
00075 
00077   std::string name_;
00078 
00085   std::vector<std::string> actuator_names_;
00086 
00093   std::vector<std::string> joint_names_;
00094 
00096   virtual bool initXml(TiXmlElement *config) { abort(); }  // In future versions, this method is mandatory in subclasses
00097 };
00098 
00099 } // namespace pr2_mechanism_model
00100 
00101 #endif