00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 /* 00035 * Author: Stuart Glaser 00036 * 00037 * modified by Ugo Cupcic 00038 */ 00039 #ifndef _SR_NULL_TRANSMISSION_HPP_ 00040 #define _SR_NULL_TRANSMISSION_HPP_ 00041 00042 #include <math.h> 00043 #include <tinyxml.h> 00044 #include <sr_hardware_interface/sr_actuator.hpp> 00045 #include <boost/smart_ptr/scoped_ptr.hpp> 00046 #include <ros_ethercat_model/robot_state.hpp> 00047 #include <pluginlib/class_list_macros.h> 00048 00049 namespace sr_mechanism_model 00050 { 00051 00052 class NullTransmission : public ros_ethercat_model::Transmission 00053 { 00054 public: 00055 bool initXml(TiXmlElement *config, ros_ethercat_model::RobotState *robot); 00056 void propagatePosition(); 00057 void propagateEffort(); 00058 }; 00059 00060 } // namespace sr_mechanism_model 00061 00062 #endif