Oncilla.h
436b59129c10biorob-cmake-utils

Oncilla.h
View Options

This document is not UTF8. It was detected as Shift JIS and converted to UTF8 for display.

			/*
			* Oncilla.h
			*
			* Created on: 15 d残. 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_ */