text: ///////////////////////////////////////////////////////////////////////////////
  // Copyright (C) 2017, Houston Mechatronics Inc.
  //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are met:
  //   * Redistributions of source code must retain the above copyright notice,
  //     this list of conditions and the following disclaimer.
  //   * Redistributions in binary form must reproduce the above copyright
  //     notice, this list of conditions and the following disclaimer in the
  //     documentation and/or other materials provided with the distribution.
  //   * Neither the name of Houston Mechatronics nor the names of its
  //     contributors may be used to endorse or promote products derived from
  //     this software without specific prior written permission.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  // POSSIBILITY OF SUCH DAMAGE.
  //////////////////////////////////////////////////////////////////////////////
  
  #pragma once
  
  
  // ros_control
  #include <transmission_interface/transmission_info.h>
  #include <transmission_interface/transmission_interface_loader.h>
  #include <transmission_interface/velocity_joint_interface_provider.h>
  
  namespace transmission_interface
  {
  class BiDirectionalVelocityJointInterfaceProvider : public VelocityJointInterfaceProvider
  {
  protected:
  
    bool registerTransmission(TransmissionLoaderData& loader_data,
                              TransmissionHandleData& handle_data);
  };
  
  } // namespace
  