Supervisor.cpp
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	/*
	* Supervisor.cpp
	*
	* Created on: Jan 21, 2013
	* Author: tuleu
	*/

	#include "Supervisor.h"
	#include <liboncilla/utils/OncillaBackend.h>
	#include "Oncilla.h"
	namespace rci {
	namespace oncilla {

	Supervisor::Supervisor(OncillaBackend & backend)
	: d_l4s(4,SupervisorL4::Ptr())
	, d_trunk(backend.CreateSupervisorTrunk())
	, d_world(backend.CreateSupervisorWorld()){
	LIBONCILLA_FOREACH_LEG(l) {
	d_l4s[l] = backend.CreateSupervisorL4(l,
	Oncilla::nameOfLeg(l) + " Oncilla Supervised L4");
	}
	}

	Supervisor::~Supervisor(){
	}

	const SupervisorTrunk::Ptr & Supervisor::getTrunk(){
	return d_trunk;
	}

	const SupervisorL4::Ptr & Supervisor::getL4(Leg l){
	if (l >= NUM_LEGS){
	std::ostringstream os;
	os << "Leg " << l << "is out of range [0 3].";
	throw std::out_of_range(os.str());
	}
	return d_l4s[l];
	}

	const SupervisorWorld::Ptr & Supervisor::getWorld(){
	return d_world;
	}

	} /* namespace oncilla */
	} /* namespace rci */