simple_transmission.hpp

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/*
 * Author: Stuart Glaser
 *
 * modified by Ugo Cupcic
 */
#ifndef _SR_SIMPLE_TRANSMISSION_HPP_
#define _SR_SIMPLE_TRANSMISSION_HPP_

#include <math.h>
#include <tinyxml.h>
#include <sr_hardware_interface/sr_actuator.hpp>
#include <boost/smart_ptr/scoped_ptr.hpp>
#include <ros_ethercat_model/robot_state.hpp>
#include <pluginlib/class_list_macros.h>

namespace sr_mechanism_model
{
class SimpleTransmission :
        public ros_ethercat_model::Transmission
{
public:
  ~SimpleTransmission()
  {
    ROS_DEBUG_STREAM("Destroying simple transmission");
  }  // added degub stream line because empty destructor make sr-ros-interface-interface unit test fail

  bool initXml(TiXmlElement *config, ros_ethercat_model::RobotState *robot);

  void propagatePosition();

  void propagateEffort();
};
}  // namespace sr_mechanism_model

#endif