52 std::vector<double>& actuator_reduction);
55 std::vector<double>& joint_reduction,
56 std::vector<double>& joint_offset,
57 bool& ignore_transmission_for_absolute_encoders);
Abstract interface for loading transmission instances from configuration data.
Class for loading a differential transmission instance from configuration data.
Contains semantic info about a given transmission loaded from XML (URDF)
std::shared_ptr< Transmission > TransmissionSharedPtr
TransmissionSharedPtr load(const TransmissionInfo &transmission_info) override
static bool getJointConfig(const TransmissionInfo &transmission_info, std::vector< double > &joint_reduction, std::vector< double > &joint_offset, bool &ignore_transmission_for_absolute_encoders)
static bool getActuatorConfig(const TransmissionInfo &transmission_info, std::vector< double > &actuator_reduction)