transmission_parser.h
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00035 
00042 #ifndef TRANSMISSION_INTERFACE_TRANSMISSION_PARSER_H
00043 #define TRANSMISSION_INTERFACE_TRANSMISSION_PARSER_H
00044 
00045 // ros_control
00046 #include <transmission_interface/transmission_info.h>
00047 
00048 // ROS
00049 #include <ros/ros.h>
00050 
00051 // XML
00052 #include <tinyxml.h>
00053 
00054 namespace transmission_interface
00055 {
00056 
00057 class TransmissionParser
00058 {
00059 public:
00063   TransmissionParser()
00064   {
00065   }
00066 
00070   ~TransmissionParser()
00071   {
00072   }
00073 
00080   static bool parse(const std::string& urdf_string, std::vector<TransmissionInfo>& transmissions);
00081 
00082 private:
00089   static bool parseJoints(TiXmlElement *trans_it, std::vector<JointInfo>& joints);
00090 
00097   static bool parseActuators(TiXmlElement *trans_it, std::vector<ActuatorInfo>& actuators);
00098 
00099 }; // class
00100 
00101 } // namespace
00102 
00103 #endif


transmission_interface
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Aug 28 2015 12:36:26