Trunk.h
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	#pragma once

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

	#include <rci/ResourceNode.h>
	#include <rci/Controlled.h>
	#include <rci/Configurable.h>
	#include <rci/Sensing.h>

	namespace rci {
	namespace oncilla {

	class Trunk;

	/**
	* Node class, representing the quadruped trunk, including pose sensing.
	*
	* @todo Expose translational accelerations and rotational velocities
	*/
	class Trunk: public rci::ResourceNode, public Sensing,
	public TranslationalAccelerationSensing,
	public OrientationSensing {

	public:
	typedef boost::shared_ptr<Trunk> Ptr;
	Trunk();
	virtual ~Trunk();



	/**
	* Print
	*/
	std::string print() const;

	};

	}
	}