<library path="lib/libtransmission_interface_loader_plugins">

  <!-- Transmission types -->
  <class name="transmission_interface/SimpleTransmission"
         type="transmission_interface::SimpleTransmissionLoader"
         base_class_type="transmission_interface::TransmissionLoader">
    <description>
      Load from a URDF description the configuration of a simple transmission.
    </description>
  </class>

  <class name="transmission_interface/DifferentialTransmission"
         type="transmission_interface::DifferentialTransmissionLoader"
         base_class_type="transmission_interface::TransmissionLoader">
    <description>
      Load from a URDF description the configuration of a differential transmission.
    </description>
  </class>

  <class name="transmission_interface/FourBarLinkageTransmission"
         type="transmission_interface::FourBarLinkageTransmissionLoader"
         base_class_type="transmission_interface::TransmissionLoader">
    <description>
      Load from a URDF description the configuration of a four-bar linkage transmission.
    </description>
  </class>

  <!-- Hardware interfaces -->
  <class name="hardware_interface/JointStateInterface"
         type="transmission_interface::JointStateInterfaceProvider"
         base_class_type="transmission_interface::RequisiteProvider">
    <description>
      Deal with hardware interface specifics when loading a transmission interface from URDF.
      JointStateInterface specialization.
    </description>
  </class>

  <class name="hardware_interface/PositionJointInterface"
         type="transmission_interface::PositionJointInterfaceProvider"
         base_class_type="transmission_interface::RequisiteProvider">
    <description>
      Deal with hardware interface specifics when loading a transmission interface from URDF.
      PositionJointInterface specialization.
    </description>
  </class>

  <class name="hardware_interface/VelocityJointInterface"
         type="transmission_interface::VelocityJointInterfaceProvider"
         base_class_type="transmission_interface::RequisiteProvider">
    <description>
      Deal with hardware interface specifics when loading a transmission interface from URDF.
      VelocityJointInterface specialization.
    </description>
  </class>

  <class name="hardware_interface/EffortJointInterface"
         type="transmission_interface::EffortJointInterfaceProvider"
         base_class_type="transmission_interface::RequisiteProvider">
    <description>
      Deal with hardware interface specifics when loading a transmission interface from URDF.
      EffortJointInterface specialization.
    </description>
  </class>

</library>