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Oncilla.h
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Fri, Sep 27, 08:29
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R6622 liboncilla
Oncilla.h
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/*
* Oncilla.h
*
* Created on: 15 d�c. 2011
* Author: Alexandre Tuleu
*/
#ifndef LIBONCILLA_ONCILLA_H_
#define LIBONCILLA_ONCILLA_H_
#include "OncillaL01.h"
#include "OncillaL2.h"
#include "OncillaL3.h"
#include "OncillaL4.h"
#include "OncillaTrunk.h"
/*
*
*/
/*
*
*/
namespace
cca
{
namespace
rci
{
namespace
driver
{
class
Oncilla
;
typedef
boost
::
shared_ptr
<
Oncilla
>
OncillaPtr
;
class
Oncilla
{
public:
enum
Leg
{
LEFT_FORE
=
0
,
RIGHT_FORE
=
1
,
LEFT_HIND
=
2
,
RIGHT_HIND
=
3
,
NUM_LEGS
=
4
};
Oncilla
();
virtual
~
Oncilla
();
OncillaL0Ptr
getL0
(
Leg
l
);
OncillaL1Ptr
getL1
(
Leg
l
);
OncillaL2Ptr
getL2
(
Leg
l
);
OncillaL3Ptr
getL3
(
Leg
l
);
OncillaL4Ptr
getL4
(
Leg
l
);
OncillaTrunkPtr
getTrunk
();
private:
void
init
();
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
;
OncillaPtr
d_trunk
;
};
}
}
}
#endif
/* LIBONCILLA_ONCILLA_H_ */
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