00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Open Source Robotics Foundation 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Open Source Robotics Foundation 00018 * nor the names of its contributors may be 00019 * used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00041 #ifndef TRANSMISSION_INTERFACE_TRANSMISSION_INTERFACE_INFO_H 00042 #define TRANSMISSION_INTERFACE_TRANSMISSION_INTERFACE_INFO_H 00043 00044 // C++ standard 00045 #include <vector> 00046 #include <string> 00047 00048 // TinyXML 00049 #include <tinyxml.h> 00050 00051 namespace transmission_interface 00052 { 00053 00057 struct JointInfo 00058 { 00059 std::string name_; 00060 std::vector<std::string> hardware_interfaces_; 00061 std::string role_; 00062 std::string xml_element_; 00063 }; 00064 00068 struct ActuatorInfo 00069 { 00070 std::string name_; 00071 std::vector<std::string> hardware_interfaces_; 00072 std::string xml_element_; 00073 }; 00074 00078 struct TransmissionInfo 00079 { 00080 std::string name_; 00081 std::string type_; 00082 std::vector<JointInfo> joints_; 00083 std::vector<ActuatorInfo> actuators_; 00084 }; 00085 00086 } // namespace 00087 00088 #endif