transmission_parser.h

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#pragma once


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

// ROS
#include <ros/ros.h>

// XML
#include <tinyxml.h>

namespace transmission_interface
{

class TransmissionParser
{
public:

  static bool parse(const std::string& urdf_string, std::vector<TransmissionInfo>& transmissions);

protected:
  static bool parseJoints(TiXmlElement *trans_it, std::vector<JointInfo>& joints);

  static bool parseActuators(TiXmlElement *trans_it, std::vector<ActuatorInfo>& actuators);

}; // class

} // namespace