joint_state_interface_provider.h

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// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of PAL Robotics S.L. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TRANSMISSION_INTERFACE_JOINT_STATE_INTERFACE_PROVIDER_H
#define TRANSMISSION_INTERFACE_JOINT_STATE_INTERFACE_PROVIDER_H

// ros_control
#include <transmission_interface/transmission_info.h>
#include <transmission_interface/transmission_interface_loader.h>

namespace transmission_interface
{

class JointStateInterfaceProvider : public RequisiteProvider
{
public:
  bool updateJointInterfaces(const TransmissionInfo&      transmission_info,
                             hardware_interface::RobotHW* robot_hw,
                             JointInterfaces&             joint_interfaces,
                             RawJointDataMap&             raw_joint_data_map);

protected:
  bool getJointStateData(const TransmissionInfo& transmission_info,
                         const RawJointDataMap&  raw_joint_data_map,
                         JointData&              jnt_state_data);

  bool getJointCommandData(const TransmissionInfo& /*transmission_info*/,
                           const RawJointDataMap&  /*raw_joint_data_map*/,
                           JointData&              /*jnt_cmd_data*/) {return true;}

  bool getActuatorStateData(const TransmissionInfo&      transmission_info,
                            hardware_interface::RobotHW* robot_hw,
                            ActuatorData&                act_state_data);

  bool getActuatorCommandData(const TransmissionInfo&      /*transmission_info*/,
                              hardware_interface::RobotHW* /*robot_hw*/,
                              ActuatorData&                /*act_cmd_data*/) {return true;}

  bool registerTransmission(TransmissionLoaderData& loader_data,
                            TransmissionHandleData& handle_data);
};

} // namespace

#endif // header guard