00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 /* 00035 * Author: Stuart Glaser 00036 */ 00037 #ifndef TRANSMISSION_H 00038 #define TRANSMISSION_H 00039 00040 #include <tinyxml.h> 00041 #include "pr2_mechanism_model/joint.h" 00042 #include "pr2_hardware_interface/hardware_interface.h" 00043 00044 namespace pr2_mechanism_model { 00045 00046 class Robot; 00047 00048 class Transmission 00049 { 00050 public: 00052 Transmission() {} 00053 00055 virtual ~Transmission() {} 00056 00058 virtual bool initXml(TiXmlElement *config, Robot *robot) = 0; 00059 00061 virtual void propagatePosition(std::vector<pr2_hardware_interface::Actuator*>&, 00062 std::vector<pr2_mechanism_model::JointState*>&) = 0; 00063 00065 virtual void propagatePositionBackwards(std::vector<pr2_mechanism_model::JointState*>&, 00066 std::vector<pr2_hardware_interface::Actuator*>&) = 0; 00067 00069 virtual void propagateEffort(std::vector<pr2_mechanism_model::JointState*>&, 00070 std::vector<pr2_hardware_interface::Actuator*>&) = 0; 00071 00073 virtual void propagateEffortBackwards(std::vector<pr2_hardware_interface::Actuator*>&, 00074 std::vector<pr2_mechanism_model::JointState*>&) = 0; 00075 00077 std::string name_; 00078 00085 std::vector<std::string> actuator_names_; 00086 00093 std::vector<std::string> joint_names_; 00094 00096 virtual bool initXml(TiXmlElement *config) { abort(); } // In future versions, this method is mandatory in subclasses 00097 }; 00098 00099 } // namespace pr2_mechanism_model 00100 00101 #endif