transmission.h

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/*
 * Author: Stuart Glaser
 */
#ifndef TRANSMISSION_H
#define TRANSMISSION_H

#include <tinyxml.h>
#include "pr2_mechanism_model/joint.h"
#include "pr2_hardware_interface/hardware_interface.h"

namespace pr2_mechanism_model {

class Robot;

class Transmission
{
public:
  Transmission() {}

  virtual ~Transmission() {}

  virtual bool initXml(TiXmlElement *config, Robot *robot) = 0;

  virtual void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&,
                                 std::vector<pr2_mechanism_model::JointState*>&) = 0;

  virtual void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&,
                                          std::vector<pr2_hardware_interface::Actuator*>&) = 0;

  virtual void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&,
                               std::vector<pr2_hardware_interface::Actuator*>&) = 0;

  virtual void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&,
                                        std::vector<pr2_mechanism_model::JointState*>&) = 0;

  std::string name_;

  std::vector<std::string> actuator_names_;

  std::vector<std::string> joint_names_;

  virtual bool initXml(TiXmlElement *config) { abort(); }  // In future versions, this method is mandatory in subclasses
};

} // namespace pr2_mechanism_model

#endif