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;
	};

	}
	}