Oncilla.h
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	/*
	* Oncilla.h
	*
	* Created on: 15 dec. 2011
	* Author: Alexandre Tuleu, Arne Nordmann
	*/
	#pragma once

	#include <vector>
	#include <iostream>
	#include <boost/shared_ptr.hpp>

	#include "common.h"
	#include "OncillaSynchronizer.h"


	namespace rci {
	namespace oncilla {


	class Oncilla;
	typedef boost::shared_ptr<Oncilla> OncillaPtr;

	class OncillaSynchronizer;
	typedef boost::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;

	class Oncilla {
	public:

	static const std::string & nameOfLeg(Leg l);

	Oncilla();
	virtual ~Oncilla();

	OncillaL0Ptr getL0(Leg l) const;
	OncillaL1Ptr getL1(Leg l) const;
	OncillaL2Ptr getL2(Leg l) const;
	OncillaL3Ptr getL3(Leg l) const;
	OncillaL4Ptr getL4(Leg l) const;
	OncillaTrunkPtr getTrunk() const;

	OncillaSynchronizerPtr getSynchronizer() const;


	private:
	typedef std::vector<std::string> LegNames;

	static LegNames s_legNames;

	void init();

	static OncillaSynchronizerPtr s_synchronizer;

	std::vector<OncillaL0Ptr> d_L0s;
	std::vector<OncillaL1Ptr> d_L1s;
	std::vector<OncillaL2Ptr> d_L2s;
	std::vector<OncillaL3Ptr> d_L3s;
	std::vector<OncillaL4Ptr> d_L4s;

	OncillaTrunkPtr d_trunk;
	};

	}
	}