transmission.h
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00001 
00002 // Copyright (C) 2013, PAL Robotics S.L.
00003 //
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //   * Redistributions of source code must retain the above copyright notice,
00007 //     this list of conditions and the following disclaimer.
00008 //   * Redistributions in binary form must reproduce the above copyright
00009 //     notice, this list of conditions and the following disclaimer in the
00010 //     documentation and/or other materials provided with the distribution.
00011 //   * Neither the name of PAL Robotics S.L. nor the names of its
00012 //     contributors may be used to endorse or promote products derived from
00013 //     this software without specific prior written permission.
00014 //
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025 // POSSIBILITY OF SUCH DAMAGE.
00027 
00029 
00030 #ifndef TRANSMISSION_INTERFACE_TRANSMISSION_H
00031 #define TRANSMISSION_INTERFACE_TRANSMISSION_H
00032 
00033 #include <cstddef>
00034 #include <string>
00035 #include <vector>
00036 
00037 namespace transmission_interface
00038 {
00039 
00048 struct ActuatorData
00049 {
00050   std::vector<double*> position;
00051   std::vector<double*> velocity;
00052   std::vector<double*> effort;
00053 };
00054 
00059 struct JointData
00060 {
00061   std::vector<double*> position;
00062   std::vector<double*> velocity;
00063   std::vector<double*> effort;
00064 };
00065 
00085 class Transmission
00086 {
00087 public:
00088   virtual ~Transmission() {}
00089 
00098   virtual void actuatorToJointEffort(const ActuatorData& act_data,
00099                                            JointData&    jnt_data) = 0;
00100 
00109   virtual void actuatorToJointVelocity(const ActuatorData& act_data,
00110                                              JointData&    jnt_data) = 0;
00111 
00120   virtual void actuatorToJointPosition(const ActuatorData& act_data,
00121                                              JointData&    jnt_data) = 0;
00122 
00131   virtual void jointToActuatorEffort(const JointData&    jnt_data,
00132                                            ActuatorData& act_data) = 0;
00133 
00142   virtual void jointToActuatorVelocity(const JointData&    jnt_data,
00143                                              ActuatorData& act_data) = 0;
00144 
00153   virtual void jointToActuatorPosition(const JointData&    jnt_data,
00154                                              ActuatorData& act_data) = 0;
00155 
00157   virtual std::size_t numActuators() const = 0;
00158 
00160   virtual std::size_t numJoints()    const = 0;
00161 };
00162 
00163 } // transmission_interface
00164 
00165 #endif // TRANSMISSION_INTERFACE_TRANSMISSION_H


transmission_interface
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Aug 28 2015 12:36:26