OncillaL0.h
dd5c2fb38593dev-arne

OncillaL0.h
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			#pragma once

			#include <iostream>
			#include <tr1/memory>

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

			#include <rci/dto/JointAngles.h>

			#include "OncillaSynchronizer.h"

			namespace rci {
			namespace oncilla {

			class OncillaL0;
			typedef std::tr1::shared_ptr<OncillaL0> OncillaL0Ptr;

			/**
			* Node class, representing the hip node of the quadruped robot.
			* @todo In case of simulation, this node can also sense the power consumption.
			*/
			class OncillaL0: public rci::ResourceNode,
			public rci::Controlled,
			public rci::PositionControlled {

			public:

			/**
			* Special constructor to also link to webots
			*/
			OncillaL0(const std::string &name = "Oncilla Hip");

			virtual ~OncillaL0();

			/**
			* Returns, if controller is converged.
			* @return True, if controller is converged after last command.
			*/
			bool isConverged() const;

			/**
			* Commanding a joint position.
			* @param position Position command
			* @return Return, if successfull. (e.g. not exceeding joint limits)
			* @todo Check for correct control mode
			*/
			bool setJointPosition(JointAnglesPtr position);

			void setRawLocalCommand(double value);

			double getRawLocalCommand() const;

			/**
			* Returns latest position command. Note, that this is the latest valid
			* commanded position. If the position command exceeds limits and is
			* therefore rejected, it ..
			*/
			virtual JointAnglesPtr getLastPositionCommand() const;

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

			}
			}