00001 00002 // Copyright (C) 2013, PAL Robotics S.L. 00003 // 00004 // Redistribution and use in source and binary forms, with or without 00005 // modification, are permitted provided that the following conditions are met: 00006 // * Redistributions of source code must retain the above copyright notice, 00007 // this list of conditions and the following disclaimer. 00008 // * Redistributions in binary form must reproduce the above copyright 00009 // notice, this list of conditions and the following disclaimer in the 00010 // documentation and/or other materials provided with the distribution. 00011 // * Neither the name of PAL Robotics S.L. nor the names of its 00012 // contributors may be used to endorse or promote products derived from 00013 // this software without specific prior written permission. 00014 // 00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 // POSSIBILITY OF SUCH DAMAGE. 00027 00029 00030 #ifndef TRANSMISSION_INTERFACE_TRANSMISSION_H 00031 #define TRANSMISSION_INTERFACE_TRANSMISSION_H 00032 00033 #include <cstddef> 00034 #include <string> 00035 #include <vector> 00036 00037 namespace transmission_interface 00038 { 00039 00048 struct ActuatorData 00049 { 00050 std::vector<double*> position; 00051 std::vector<double*> velocity; 00052 std::vector<double*> effort; 00053 }; 00054 00059 struct JointData 00060 { 00061 std::vector<double*> position; 00062 std::vector<double*> velocity; 00063 std::vector<double*> effort; 00064 }; 00065 00085 class Transmission 00086 { 00087 public: 00088 virtual ~Transmission() {} 00089 00098 virtual void actuatorToJointEffort(const ActuatorData& act_data, 00099 JointData& jnt_data) = 0; 00100 00109 virtual void actuatorToJointVelocity(const ActuatorData& act_data, 00110 JointData& jnt_data) = 0; 00111 00120 virtual void actuatorToJointPosition(const ActuatorData& act_data, 00121 JointData& jnt_data) = 0; 00122 00131 virtual void jointToActuatorEffort(const JointData& jnt_data, 00132 ActuatorData& act_data) = 0; 00133 00142 virtual void jointToActuatorVelocity(const JointData& jnt_data, 00143 ActuatorData& act_data) = 0; 00144 00153 virtual void jointToActuatorPosition(const JointData& jnt_data, 00154 ActuatorData& act_data) = 0; 00155 00157 virtual std::size_t numActuators() const = 0; 00158 00160 virtual std::size_t numJoints() const = 0; 00161 }; 00162 00163 } // transmission_interface 00164 00165 #endif // TRANSMISSION_INTERFACE_TRANSMISSION_H