transmission.hpp
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00034 /*
00035  * Author: Stuart Glaser
00036  */
00037 #ifndef ROS_ETHERCAT_MODEL_TRANSMISSION_H
00038 #define ROS_ETHERCAT_MODEL_TRANSMISSION_H
00039 
00040 #include <tinyxml.h>
00041 #include <algorithm>
00042 #include "ros_ethercat_model/joint.hpp"
00043 #include "ros_ethercat_model/hardware_interface.hpp"
00044 
00045 namespace ros_ethercat_model
00046 {
00047 
00048 class RobotState;
00049 
00050 class Transmission
00051 {
00052 public:
00053 
00055   virtual ~Transmission()
00056   {
00057     delete actuator_;
00058   }
00059 
00061   virtual bool initXml(TiXmlElement *config, RobotState *robot)
00062   {
00063     const char *name = config->Attribute("name");
00064     name_ = name ? name : "";
00065     return true;
00066   }
00067 
00069   virtual void propagatePosition()
00070   {
00071   };
00072 
00074   virtual void propagateEffort()
00075   {
00076   };
00077 
00079   std::string name_;
00080 
00084   JointState *joint_;
00085 
00088   Actuator *actuator_;
00089 };
00090 
00091 } // namespace ros_ethercat_model
00092 
00093 #endif


ros_ethercat_model
Author(s): Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:12