multi_actuator_transmission_loader.h

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//
// Created by luotinkai on 2021/12/5.
//
 
#pragma once
 
#include <tinyxml.h>
#include <transmission_interface/transmission_loader.h>
#include "rm_hw/transmission/multi_actuator_transmission.h"
 
namespace transmission_interface
{
class MultiActuatorTransmissionLoader : public TransmissionLoader
{
public:
  TransmissionSharedPtr load(const TransmissionInfo& transmission_info) override;
 
private:
  static bool getActuatorConfig(const TransmissionInfo& transmission_info, std::vector<double>& actuator_reduction);
  static bool getJointConfig(const TransmissionInfo& transmission_info, double& joint_reduction, double& joint_offset);
};
 
}  // namespace transmission_interface