velocity_joint_interface_provider.h

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// Copyright (C) 2013, PAL Robotics S.L.
//
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// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
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//   * 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.
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#ifndef TRANSMISSION_INTERFACE_VELOCITY_JOINT_INTERFACE_PROVIDER_H
#define TRANSMISSION_INTERFACE_VELOCITY_JOINT_INTERFACE_PROVIDER_H

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

namespace transmission_interface
{

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

protected:

  bool getJointCommandData(const TransmissionInfo& transmission_info,
                           const RawJointDataMap&  raw_joint_data_map,
                           JointData&              jnt_cmd_data);

  bool getActuatorCommandData(const TransmissionInfo&      transmission_info,
                              hardware_interface::RobotHW* robot_hw,
                              ActuatorData&                act_cmd_data);

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

} // namespace

#endif // header guard