transmission.hpp

// 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 <string>
#include <vector>
 
#include "hardware_interface/types/hardware_interface_type_values.hpp"
#include "transmission_interface/handle.hpp"
 
namespace transmission_interface
{
constexpr auto HW_IF_ABSOLUTE_POSITION = "absolute_position";
 
 
class Transmission
{
public:
  virtual ~Transmission() = default;
 
  virtual void configure(
    const std::vector<JointHandle> & joint_handles,
    const std::vector<ActuatorHandle> & actuator_handles) = 0;
 
  virtual std::vector<std::string> get_supported_joint_interfaces() const
  {
    return {
      hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
      hardware_interface::HW_IF_EFFORT};
  }
 
  virtual std::vector<std::string> get_supported_actuator_interfaces() const
  {
    return {
      hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
      hardware_interface::HW_IF_EFFORT};
  }
 
  virtual double get_actuator_position_offset() const { return 0.0; }
 
  virtual double get_joint_position_offset() const { return 0.0; }
 
 
  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_