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Trunk.h
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Created
Mon, Sep 9, 14:27
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718 B
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text/x-c++
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Wed, Sep 11, 14:27 (1 d, 23 h)
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blob
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20653494
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R6622 liboncilla
Trunk.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>
namespace rci {
namespace oncilla {
class Trunk;
/**
* Node class, representing the quadruped trunk, including pose sensing.
*
* @todo Expose translational accelerations and rotational velocities
*/
class Trunk: public rci::ResourceNode, public Sensing,
public TranslationalAccelerationSensing,
public OrientationSensing {
public:
typedef boost::shared_ptr<Trunk> Ptr;
Trunk();
virtual ~Trunk();
/**
* Print
*/
std::string print() const;
};
}
}
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