Program Listing for File transmission.hpp
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// Copyright 2020 PAL Robotics S.L.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef TRANSMISSION_INTERFACE__TRANSMISSION_HPP_
#define TRANSMISSION_INTERFACE__TRANSMISSION_HPP_
#include <cstddef>
#include <memory>
#include <stdexcept>
#include <string>
#include <vector>
#include "transmission_interface/handle.hpp"
namespace transmission_interface
{
class Transmission
{
public:
virtual ~Transmission() = default;
virtual void configure(
const std::vector<JointHandle> & joint_handles,
const std::vector<ActuatorHandle> & actuator_handles) = 0;
virtual void actuator_to_joint() = 0;
virtual void joint_to_actuator() = 0;
virtual std::size_t num_actuators() const = 0;
virtual std::size_t num_joints() const = 0;
};
typedef std::shared_ptr<Transmission> TransmissionSharedPtr;
} // namespace transmission_interface
#endif // TRANSMISSION_INTERFACE__TRANSMISSION_HPP_