Oncilla.h
e1f63e95eacbbiorob-cmake-utils

Oncilla.h
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			/*
			* Oncilla.h
			*
			* Created on: 15 dec. 2011
			* Author: Alexandre Tuleu, Arne Nordmann
			*/
			#pragma once

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

			#include "common.h"
			#include "OncillaSynchronizer.h"


			namespace rci {
			namespace oncilla {


			class Oncilla;
			typedef boost::shared_ptr<Oncilla> OncillaPtr;

			class OncillaSynchronizer;
			typedef boost::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;

			class Oncilla {
			public:

			static const std::string & nameOfLeg(Leg l);

			Oncilla();
			virtual ~Oncilla();

			OncillaL0Ptr getL0(Leg l) const;
			OncillaL1Ptr getL1(Leg l) const;
			OncillaL2Ptr getL2(Leg l) const;
			OncillaL3Ptr getL3(Leg l) const;
			OncillaL4Ptr getL4(Leg l) const;
			OncillaTrunkPtr getTrunk() const;

			OncillaSynchronizerPtr getSynchronizer() const;


			private:
			typedef std::vector<std::string> LegNames;

			static LegNames s_legNames;

			void init();

			static OncillaSynchronizerPtr s_synchronizer;

			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;

			OncillaTrunkPtr d_trunk;
			};

			}
			}