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53 double reduction = 0.0;
56 transmission_info.
name_,
63 double joint_offset = 0.0;
65 transmission_info.
joints_.front().name_,
66 transmission_info.
name_,
81 demangledTypeName<SimpleTransmission>()<<
"'. " << ex.
what());
std::shared_ptr< Transmission > TransmissionSharedPtr
Class for loading a simple transmission instance from configuration data.
TransmissionSharedPtr load(const TransmissionInfo &transmission_info) override
static bool getActuatorReduction(const TiXmlElement &parent_el, const std::string &actuator_name, const std::string &transmission_name, bool required, double &reduction)
std::vector< JointInfo > joints_
std::string demangledTypeName()
std::vector< ActuatorInfo > actuators_
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)
#define ROS_ERROR_STREAM_NAMED(name, args)
static bool checkActuatorDimension(const TransmissionInfo &transmission_info, const unsigned int expected_dim)
static bool checkJointDimension(const TransmissionInfo &transmission_info, const unsigned int expected_dim)
Implementation of a simple reducer transmission.
const char * what() const noexcept override
Abstract interface for loading transmission instances from configuration data.
Contains semantic info about a given transmission loaded from XML (URDF)
static TiXmlElement loadXmlElement(const std::string &element_str)
static bool getJointOffset(const TiXmlElement &parent_el, const std::string &joint_name, const std::string &transmission_name, bool required, double &offset)