joint_0_transmission.hpp

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/*
* Copyright 2011 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef _JOINT_0_TRANSMISSION_HPP_
#define _JOINT_0_TRANSMISSION_HPP_

#include "sr_mechanism_model/simple_transmission.hpp"

namespace sr_mechanism_model
{
class J0Transmission :
        public SimpleTransmission
{
public:
  bool initXml(tinyxml2::XMLElement *config, ros_ethercat_model::RobotState *robot);

  void propagatePosition();

  ros_ethercat_model::JointState *joint2_;
};
}  // namespace sr_mechanism_model

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
 */

#endif