transmission.hpp

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/*
 * Author: Stuart Glaser
 */
#ifndef ROS_ETHERCAT_MODEL_TRANSMISSION_H
#define ROS_ETHERCAT_MODEL_TRANSMISSION_H

#include <tinyxml.h>
#include <algorithm>
#include "ros_ethercat_model/joint.hpp"
#include "ros_ethercat_model/hardware_interface.hpp"

namespace ros_ethercat_model
{

class RobotState;

class Transmission
{
public:

  virtual ~Transmission()
  {
    delete actuator_;
  }

  virtual bool initXml(TiXmlElement *config, RobotState *robot)
  {
    const char *name = config->Attribute("name");
    name_ = name ? name : "";
    return true;
  }

  virtual void propagatePosition()
  {
  };

  virtual void propagateEffort()
  {
  };

  std::string name_;

  JointState *joint_;

  Actuator *actuator_;
};

} // namespace ros_ethercat_model

#endif