OncillaL4.h
e1f63e95eacbbiorob-cmake-utils

OncillaL4.h
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			#pragma once

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

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

			#include <rci/dto/JointAngles.h>

			namespace rci {
			namespace oncilla {

			class OncillaL4;
			typedef boost::shared_ptr<OncillaL4> OncillaL4Ptr;

			/**
			* Node class, representing the foot of the quadruped robot. Not actuated,
			* but force sensing.
			*/
			class OncillaL4: public rci::ResourceNode,
			public rci::Sensing,
			public rci::ForceSensing,
			public rci::TorqueSensing{

			public:

			OncillaL4(const std::string & name = "Oncilla Foot");

			virtual ~OncillaL4();

			/**
			* Returns contact forces
			*/
			ForcesPtr getForces() const;

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


			void unsafeUpdateForce(const double * data);
			};

			}
			}