L3.h
No OneTemporary
Actions

Subscribers

None

File Metadata

	#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 L3;


	/**
	* Node class, representing the foot/ankle of the quadruped robot. Not actuated,
	* but force sensing.
	*/
	class L3: public rci::ResourceNode,
	public rci::Sensing,
	public rci::PositionSensing {

	public:
	typedef boost::shared_ptr<L3> Ptr;
	L3(const std::string & name = "Oncilla Ankle");

	virtual ~L3();

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


	protected :
	double unsafeGetPosition() const;

	void unsafeUpdatePosition(double value);
	};

	}
	}