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OncillaL4.h
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Created
Sat, Sep 21, 23:49
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856 B
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text/x-c++
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Mon, Sep 23, 23:49 (2 d)
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R6622 liboncilla
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
);
};
}
}
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