ros2_control - rolling
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component_parser.hpp
1// Copyright 2020 ros2_control Development Team
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15#ifndef HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
16#define HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
17
18#include <string>
19#include <unordered_map>
20#include <vector>
21
22#include "hardware_interface/hardware_info.hpp"
23
24namespace hardware_interface
25{
27
32std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
33
39std::vector<InterfaceDescription> parse_state_interface_descriptions(
40 const std::vector<ComponentInfo> & component_info);
41
48 const std::vector<ComponentInfo> & component_info,
49 std::unordered_map<std::string, InterfaceDescription> & state_interfaces_map);
50
56std::vector<InterfaceDescription> parse_command_interface_descriptions(
57 const std::vector<ComponentInfo> & component_info);
58
65 const std::vector<ComponentInfo> & component_info,
66 std::unordered_map<std::string, InterfaceDescription> & command_interfaces_map);
67} // namespace hardware_interface
68#endif // HARDWARE_INTERFACE__COMPONENT_PARSER_HPP_
Definition actuator.hpp:33
std::vector< HardwareInfo > parse_control_resources_from_urdf(const std::string &urdf)
Search XML snippet from URDF for information about a control component.
Definition component_parser.cpp:873
std::vector< InterfaceDescription > parse_command_interface_descriptions(const std::vector< ComponentInfo > &component_info)
Definition component_parser.cpp:1036
std::vector< InterfaceDescription > parse_state_interface_descriptions(const std::vector< ComponentInfo > &component_info)
Definition component_parser.cpp:1003