simple_transmission_for_muscle.hpp

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

#include "sr_mechanism_model/simple_transmission.hpp"

namespace sr_mechanism_model
{
class SimpleTransmissionForMuscle :
        public sr_mechanism_model::SimpleTransmission
{
public:
  bool initXml(TiXmlElement *config, ros_ethercat_model::RobotState *robot);

  void propagatePosition();

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

#endif