00001 /* 00002 * Copyright (c) 2013, Shadow Robot Company, All rights reserved. 00003 * 00004 * This library is free software; you can redistribute it and/or 00005 * modify it under the terms of the GNU Lesser General Public 00006 * License as published by the Free Software Foundation; either 00007 * version 3.0 of the License, or (at your option) any later version. 00008 * 00009 * This library is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 * Lesser General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU Lesser General Public 00015 * License along with this library. 00016 */ 00017 00024 #ifndef _RONEX_TRANSMISSION_H_ 00025 #define _RONEX_TRANSMISSION_H_ 00026 00027 #include <ros_ethercat_model/robot_state.hpp> 00028 #include <sr_ronex_hardware_interface/mk2_gio_hardware_interface.hpp> 00029 #include <boost/ptr_container/ptr_vector.hpp> 00030 #include "sr_ronex_transmissions/mapping/ronex_mapping.hpp" 00031 00032 namespace ronex 00033 { 00034 class RonexTransmission : public ros_ethercat_model::Transmission 00035 { 00036 public: 00037 bool initXml(TiXmlElement *elt, ros_ethercat_model::RobotState *robot); 00038 00039 void propagatePosition(); 00040 void propagateEffort(); 00041 00042 protected: 00043 boost::ptr_vector<RonexMapping> ronex_mappings_; 00044 boost::ptr_vector<RonexMapping>::iterator ronex_iter_; 00045 }; 00046 } // namespace ronex 00047 00048 /* For the emacs weenies in the crowd. 00049 Local Variables: 00050 c-basic-offset: 2 00051 End: 00052 */ 00053 00054 #endif /* _RONEX_TRANSMISSION_H_ */