OncillaTrunk.h
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	#pragma once

	#include <iostream>
	#include <boost/shared_ptr.hpp>

	#include <rci/nodes/ResourceNode.h>
	#include <rci/nodes/Controlled.h>
	#include <rci/nodes/Configurable.h>
	#include <rci/nodes/Sensing.h>

	namespace cca {
	namespace rci {
	namespace driver {

	class OncillaTrunk;
	typedef boost::shared_ptr<OncillaTrunk> OncillaTrunkPtr;

	/**
	* Node class, representing the quadruped trunk, including pose sensing.
	*/
	class OncillaTrunk: public rci::ResourceNode,
	public rci::Sensing,
	public rci::PoseSensing {

	public:

	OncillaTrunk(std::string name = "Oncilla Trunk");
	virtual ~OncillaTrunk();

	/**
	* Returns current pose.
	* @return Current pose
	*/
	virtual PosePtr getAbsolutePose() const;

	/**
	* Returns current displacement.
	* @return Current pose
	*/
	virtual PosePtr getDisplacement() const;

	/**
	* Returns current translational and rotational acceleration.
	* @return Current pose
	*/
	virtual PosePtr getAcceleration() const;

	/**
	* Print
	*/
	std::string print() const;

	};

	}
	}
	}