L0.h
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	#pragma once

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

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

	#include <rci/dto/JointAngles.h>


	namespace rci {
	namespace oncilla {


	/**
	* Node class, representing the hip node of the quadruped robot.
	* @todo In case of simulation, this node can also sense the power consumption.
	*/
	class L0: public rci::ResourceNode,
	public rci::Controlled,
	public rci::PositionControlled,
	public rci::Sensing,
	public rci::ForceSensing{

	public:
	typedef boost::shared_ptr<L0> Ptr;

	L0(const std::string &name = "Oncilla Scapula");

	virtual ~L0();

	/**
	* Returns, if the controller is converged.
	* \note This always return false for Oncilla : reason we use PWM
	* controlled servos for this joint.
	* \return always false, always.
	*/
	bool isConverged() const;


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

	protected :

	/**
	* Helper function to get command in derived classes.
	* \internal
	*/
	double unsafeGetCommand() const;

	/**
	* Helper function to update forces in derived classes.
	* \internal
	*/
	void unsafeUpdateForce(double x, double y,double torque);

	};



	}
	}