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WebotsOncillaBackend.h
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WebotsOncillaBackend.h
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			/*
			* WebotsOncillaBackend.h
			*
			* Created on: Jan 22, 2013
			* Author: tuleu
			*/

			#ifndef LIBONCILLA_WEBOTS_WEBOTSONCILLABACKEND_H_
			#define LIBONCILLA_WEBOTS_WEBOTSONCILLABACKEND_H_

			#include <liboncilla/utils/OncillaBackend.h>

			#include "Common.h"
			#include "Config.h"
			#include "LegParameters.h"

			class WebotsNodeWrapper;


			namespace liboncilla {
			namespace webots {

			class Synchronizer;

			}
			}


			class WebotsOncillaBackend : public OncillaBackend {
			public:

			WebotsOncillaBackend();
			virtual ~WebotsOncillaBackend();

			virtual boost::shared_ptr<rci::oncilla::Synchronizer> CreateSynchronizer();
			virtual boost::shared_ptr<rci::oncilla::L0> CreateL0(rci::oncilla::Leg,
			const std::string&);
			virtual boost::shared_ptr<rci::oncilla::L1L2> CreateL1(rci::oncilla::Leg,
			const std::string&);
			virtual boost::shared_ptr<rci::oncilla::L1L2> CreateL2(rci::oncilla::Leg,
			const std::string &);
			virtual boost::shared_ptr<rci::oncilla::L3> CreateL3(rci::oncilla::Leg,
			const std::string &);
			virtual boost::shared_ptr<rci::oncilla::Trunk> CreateTrunk();

			virtual boost::shared_ptr<rci::oncilla::SupervisorTrunk> CreateSupervisorTrunk();

			virtual boost::shared_ptr<rci::oncilla::SupervisorL4> CreateSupervisorL4(rci::oncilla::Leg,
			const std::string&);
			private :
			typedef boost::shared_ptr<liboncilla::webots::Synchronizer> SynchronizerPtr;
			typedef std::vector<LegParameters> ListOfLegParameters;
			enum JointIdentifier {
			TRUNK_0 = 1,
			L0_L1,
			L1_L2,
			L2_L3,
			L1_D1,
			D1_D2,
			D2_L3,
			L1_P1,
			P1_P2,
			P2_L3,
			L3_FOOT,
			P1_L3
			};

			const static char* LEG_PREFIXES[4];

			void Init();
			void InitIfNeeded();
			uint32_t GetJointIdentifier(rci::oncilla::Leg l,
			JointIdentifier j);

			void ExtractLegParametersAndInitModel(rci::oncilla::Leg l,
			LegParameters & params);
			void ExtractLegParameters(const WebotsNodeWrapper & l1,
			const WebotsNodeWrapper & l2,
			const WebotsNodeWrapper & l3,
			const WebotsNodeWrapper & p1,
			const WebotsNodeWrapper & foot,
			const std::string & d2name,
			LegParameters & params);

			const liboncilla::webots::config::LegSection & LegConfigSection(rci::oncilla::Leg l);


			WSupervisorPtr d_supervisor;
			//only one synchronizer per program !!!
			SynchronizerPtr d_synchronizer;

			liboncilla::webots::config::Config d_config;
			ListOfLegParameters d_legParameters;


			};

			#endif /* LIBONCILLA_WEBOTS_WEBOTSONCILLABACKEND_H_ */

liboncilla-webots/src/liboncilla-webots/WebotsOncillaBackend.ha656bd00d7aedev

WebotsOncillaBackend.hView Options

liboncilla-webots/src/liboncilla-webots/WebotsOncillaBackend.h
a656bd00d7aedev

WebotsOncillaBackend.h
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