Page Menu
Home
c4science
Search
Configure Global Search
Log In
Files
F82260497
OncillaFoot.h
No One
Temporary
Actions
Download File
Edit File
Delete File
View Transforms
Subscribe
Mute Notifications
Award Token
Subscribers
None
File Metadata
Details
File Info
Storage
Attached
Created
Tue, Sep 10, 11:00
Size
1 KB
Mime Type
text/x-c++
Expires
Thu, Sep 12, 11:00 (2 d)
Engine
blob
Format
Raw Data
Handle
20672772
Attached To
R6622 liboncilla
OncillaFoot.h
View Options
#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <cca/dto/debug/DebugDTO.h>
#include <rci/nodes/ResourceNode.h>
#include <rci/nodes/Controlled.h>
#include <rci/nodes/Configurable.h>
#include <rci/nodes/Sensing.h>
#include <rci/dto/JointAngles.h>
namespace
cca
{
namespace
rci
{
namespace
driver
{
class
OncillaFoot
;
typedef
boost
::
shared_ptr
<
OncillaFoot
>
OncillaFootPtr
;
/**
* Node class, representing the foot of the quadruped robot. Not actuated,
* but force sensing.
*/
class
OncillaFoot
:
public
rci
::
ResourceNode
,
public
rci
::
Sensing
,
public
rci
::
ForceSensing
{
public:
OncillaFoot
(
std
::
string
name
=
"Oncilla Foot"
);
virtual
~
OncillaFoot
();
/**
* Returns contact forces
*/
ForcesPtr
getForces
()
const
;
/**
* Main data-flow process method
* Main data-flow process method. Every time called, when a new data-flow
* item arrives.
* @todo marshalling and calling control methods
*/
void
onProcess
();
/**
* Print
*/
std
::
string
print
()
const
;
/**
* Shared Pointer Factory
*/
static
CCANodePtr
create
(
std
::
string
name
=
"Oncilla Foot"
);
};
}
}
}
Event Timeline
Log In to Comment