00001 #ifndef JOINTCOMMANDFACTORY_H_ 00002 #define JOINTCOMMANDFACTORY_H_ 00003 00004 #include <boost/make_shared.hpp> 00005 #include "robodyn_mechanisms/JointCommandSeriesElastic.h" 00006 #include "robodyn_mechanisms/JointCommandRigid.h" 00007 #include "robodyn_mechanisms/JointCommandGripper.h" 00008 #include "robodyn_mechanisms/JointCommandWrist.h" 00009 #include "robodyn_mechanisms/JointCommandFinger.h" 00010 00011 namespace JointCommandFactory 00012 { 00013 JointCommandInterfacePtr generate(const std::string& mechanism, const JointCommandInterface::IoFunctions& io); 00014 00015 namespace Private 00016 { 00017 std::string getJointTypeFromParameterFile(const std::string& parameterFile); 00018 }; 00019 }; 00020 00021 #endif /* JOINTCOMMANDFACTORY_H_ */