transmission_parser.h

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#pragma once
 
 
// ros_control
#include <transmission_interface/transmission_info.h>
 
// ROS
#include <ros/ros.h>
 
// XML
#include <tinyxml.h>
 
namespace transmission_interface
{
 
class TransmissionParser
{
public:
 
  static bool parse(const std::string& urdf_string, std::vector<TransmissionInfo>& transmissions);
 
protected:
  static bool parseJoints(TiXmlElement *trans_it, std::vector<JointInfo>& joints);
 
  static bool parseActuators(TiXmlElement *trans_it, std::vector<ActuatorInfo>& actuators);
 
}; // class
 
} // namespace