00001 #ifndef JOINTCONTROLMANAGERFACTORY_H_ 00002 #define JOINTCONTROLMANAGERFACTORY_H_ 00003 00004 #include <boost/make_shared.hpp> 00005 #include "robot_instance/NodeRegisterManager.h" 00006 #include "robodyn_mechanisms/JointControlManagerSeriesElastic.h" 00007 #include "robodyn_mechanisms/JointControlManagerGripper.h" 00008 #include "robodyn_mechanisms/JointControlManagerWrist.h" 00009 #include "robodyn_mechanisms/JointControlManagerFinger.h" 00010 00011 namespace JointControlManagerFactory 00012 { 00013 JointControlManagerPtr generate(const std::string& mechanism, const JointControlCommonInterface::IoFunctions& io, double timeLimit, NodeRegisterManagerPtr nodeRegisterManager); 00014 00015 namespace Private 00016 { 00017 std::string getPropertyFromFile(const std::string& parameterFile, const std::string& property); 00018 } 00019 } 00020 00021 #endif /* JOINTCOMMANDFACTORY_H_ */