OncillaTrunk.h
No OneTemporary
Actions

Subscribers

None

File Metadata

	#pragma once

	#include <iostream>
	#include <tr1/memory>

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

	namespace rci {
	namespace oncilla {

	class OncillaTrunk;
	typedef std::tr1::shared_ptr<OncillaTrunk> OncillaTrunkPtr;

	/**
	* Node class, representing the quadruped trunk, including pose sensing.
	*
	* @todo Expose translational accelerations and rotational velocities
	*/
	class OncillaTrunk: public rci::ResourceNode, public Sensing, public PoseSensing {

	public:

	OncillaTrunk(const 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;

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

	};

	}
	}