OncillaL4.cpp
1383776216c9debian-maverick

OncillaL4.cpp
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			#include "OncillaL4.h"

			using namespace std;

			namespace rci {
			namespace oncilla {

			OncillaL4::OncillaL4(const std::string & name)
			: rci::ResourceNode(name)
			, rci::Sensing()
			, rci::ForceSensing(){
			this->forces = (ForcesPtr(new Forces(0,0,0)));
			}

			ForcesPtr OncillaL4::getForces() const {
			return this->forces;
			}

			OncillaL4::~OncillaL4() {
			}

			std::string OncillaL4::print() const {
			ostringstream outstream(ostringstream::out);
			outstream.precision(3); // Precision when printing double values
			outstream << "<Oncilla Foot>" << endl;
			return outstream.str();
			}

			void OncillaL4::unsafeUpdateForce(const double * data){
			this->updateForces(ForcesPtr(new Forces(data[0],data[1],data[2])));
			}

			}
			}