Page Menu
Home
c4science
Search
Configure Global Search
Log In
Files
F81565759
OncillaL3.h
No One
Temporary
Actions
Download File
Edit File
Delete File
View Transforms
Subscribe
Mute Notifications
Award Token
Subscribers
None
File Metadata
Details
File Info
Storage
Attached
Created
Fri, Sep 6, 19:02
Size
866 B
Mime Type
text/x-c++
Expires
Sun, Sep 8, 19:02 (2 d)
Engine
blob
Format
Raw Data
Handle
20597220
Attached To
R6622 liboncilla
OncillaL3.h
View Options
#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 OncillaL3;
typedef boost::shared_ptr<OncillaL3> OncillaL3Ptr;
/**
* Node class, representing the foot/ankle of the quadruped robot. Not actuated,
* but force sensing.
*/
class OncillaL3: public rci::ResourceNode,
public rci::Sensing,
public rci::PositionSensing {
public:
OncillaL3(const std::string & name = "Oncilla Ankle");
virtual ~OncillaL3();
/**
* Returns contact forces
*/
JointAnglesPtr getJointPosition() const;
double unsafeGetPosition() const;
void unsafeUpdatePosition(double value);
/**
* Print
*/
std::string print() const;
};
}
}
Event Timeline
Log In to Comment