OncillaTrunk.h
a92ac2ba5450biorob-cmake-utils

OncillaTrunk.h
View Options

			#pragma once

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

			#include <cca/dto/debug/DebugDTO.h>

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

			namespace cca {
			namespace rci {
			namespace driver {

			class OncillaTrunk;
			typedef boost::shared_ptr<OncillaTrunk> OncillaTrunkPtr;

			/**
			* Node class, representing the quadruped trunk, including pose sensing.
			*/
			class OncillaTrunk: public rci::ResourceNode,
			public rci::Sensing,
			public rci::PoseSensing {

			public:

			OncillaTrunk(std::string name = "Oncilla Trunk");
			virtual ~OncillaTrunk();

			/**
			* Returns current pose.
			* @return Current pose
			*/
			virtual PosePtr getAbsolutePose() const;

			/**
			* Returns current displacement.
			* @return Current pose
			*/
			virtual PosePtr getDisplacement() const;

			/**
			* Returns current translational and rotational acceleration.
			* @return Current pose
			*/
			virtual PosePtr getAcceleration() const;

			/**
			* Main processing method
			*/
			void onProcess();

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

			/**
			* Shared Pointer Factory
			*/
			static CCANodePtr create(std::string name = "Oncilla Trunk");

			};

			}
			}
			}