transmission.h

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// Copyright (C) 2013, PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
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//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
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//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
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#ifndef TRANSMISSION_INTERFACE_TRANSMISSION_H
#define TRANSMISSION_INTERFACE_TRANSMISSION_H

#include <cstddef>
#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>


namespace transmission_interface
{

struct ActuatorData
{
  std::vector<double*> position;
  std::vector<double*> velocity;
  std::vector<double*> effort;
};

struct JointData
{
  std::vector<double*> position;
  std::vector<double*> velocity;
  std::vector<double*> effort;
};

class Transmission
{
public:
  virtual ~Transmission() {}

  virtual void actuatorToJointEffort(const ActuatorData& act_data,
                                           JointData&    jnt_data) = 0;

  virtual void actuatorToJointVelocity(const ActuatorData& act_data,
                                             JointData&    jnt_data) = 0;

  virtual void actuatorToJointPosition(const ActuatorData& act_data,
                                             JointData&    jnt_data) = 0;

  virtual void jointToActuatorEffort(const JointData&    jnt_data,
                                           ActuatorData& act_data) = 0;

  virtual void jointToActuatorVelocity(const JointData&    jnt_data,
                                             ActuatorData& act_data) = 0;

  virtual void jointToActuatorPosition(const JointData&    jnt_data,
                                             ActuatorData& act_data) = 0;

  virtual std::size_t numActuators() const = 0;

  virtual std::size_t numJoints()    const = 0;
};

typedef boost::shared_ptr<Transmission> TransmissionSharedPtr;

} // transmission_interface

#endif // TRANSMISSION_INTERFACE_TRANSMISSION_H