Oncilla.h
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	/*
	* Oncilla.h
	*
	* Created on: 15 d残. 2011
	* Author: Alexandre Tuleu
	*/

	#ifndef LIBONCILLA_ONCILLA_H_
	#define LIBONCILLA_ONCILLA_H_


	#include "OncillaL01.h"
	#include "OncillaL2.h"
	#include "OncillaL3.h"
	#include "OncillaL4.h"
	#include "OncillaTrunk.h"

	/*
	*
	*/
	/*
	*
	*/
	namespace cca {
	namespace rci {
	namespace driver {

	class Oncilla;
	typedef boost::shared_ptr<Oncilla> OncillaPtr;

	class Oncilla {
	public:
	enum Leg {
	LEFT_FORE = 0,
	RIGHT_FORE = 1,
	LEFT_HIND = 2,
	RIGHT_HIND = 3,
	NUM_LEGS = 4
	};

	Oncilla();
	virtual ~Oncilla();

	OncillaL0Ptr getL0(Leg l);
	OncillaL1Ptr getL1(Leg l);
	OncillaL2Ptr getL2(Leg l);
	OncillaL3Ptr getL3(Leg l);
	OncillaL4Ptr getL4(Leg l);

	OncillaTrunkPtr getTrunk();


	private :
	void init();

	std::vector<OncillaL0Ptr> d_l0s;
	std::vector<OncillaL1Ptr> d_l1s;
	std::vector<OncillaL2Ptr> d_l2s;
	std::vector<OncillaL3Ptr> d_l3s;
	std::vector<OncillaL4Ptr> d_l4s;

	OncillaPtr d_trunk;
	};


	}
	}
	}
	#endif /* LIBONCILLA_ONCILLA_H_ */