Supervisor.cpp
e398de92a491dev-arne

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 */