transmission_parser.hpp

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// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// 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_PARSER_HPP_
#define TRANSMISSION_INTERFACE__TRANSMISSION_PARSER_HPP_
 
#include <transmission_interface/visibility_control.h>
#include <transmission_interface/transmission_info.hpp>
 
#include <tinyxml2.h>
 
#include <string>
#include <vector>
 
namespace transmission_interface
{
 
TRANSMISSION_INTERFACE_PUBLIC
std::vector<JointInfo> parse_joints(tinyxml2::XMLElement * trans_it);
 
 
TRANSMISSION_INTERFACE_PUBLIC
std::vector<ActuatorInfo> parse_actuators(tinyxml2::XMLElement * trans_it);
 
 
TRANSMISSION_INTERFACE_PUBLIC
std::vector<TransmissionInfo> parse_transmissions_from_urdf(const std::string & urdf);
}  // namespace transmission_interface
 
#endif  // TRANSMISSION_INTERFACE__TRANSMISSION_PARSER_HPP_