L1.h
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	#pragma once

	#include <liboncilla/nodes/L1L2.h>

	namespace liboncilla {
	namespace hw {

	using namespace rci;

	class L1: public rci::oncilla::L1 {
	public:
	L1(rci::oncilla::Synchronizer & s, const std::string & name);
	virtual ~L1();

	virtual void setControlMode(ControlModePtr controlMode);

	virtual bool setJointImpedance(JointImpedancePtr);
	virtual bool setJointPosition(JointAnglesPtr position);
	virtual bool setJointVelocity(JointVelocitiesPtr velocity);
	virtual bool setJointTorque(JointTorquesPtr position);

	virtual JointAnglesPtr getJointPosition() const;
	};

	} /* namespace hw */
	} /* namespace liboncilla */