ronex_transmission.hpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 *
 * This library 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 3.0 of the License, or (at your option) any later version.
 *
 * This library 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 this library.
 */

#ifndef _RONEX_TRANSMISSION_H_
#define _RONEX_TRANSMISSION_H_

#include <ros_ethercat_model/robot_state.hpp>
#include <sr_ronex_hardware_interface/mk2_gio_hardware_interface.hpp>
#include <boost/ptr_container/ptr_vector.hpp>
#include "sr_ronex_transmissions/mapping/ronex_mapping.hpp"

namespace ronex
{
  class RonexTransmission : public ros_ethercat_model::Transmission
  {
  public:
    bool initXml(TiXmlElement *elt, ros_ethercat_model::RobotState *robot);

    void propagatePosition();
    void propagateEffort();

  protected:
    boost::ptr_vector<RonexMapping> ronex_mappings_;
    boost::ptr_vector<RonexMapping>::iterator ronex_iter_;
  };
}

/* For the emacs weenies in the crowd.
   Local Variables:
   c-basic-offset: 2
   End:
*/

#endif /* _RONEX_TRANSMISSION_H_ */