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OncillaL3.h
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Created
Tue, Sep 17, 13:09
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866 B
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text/x-c++
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Thu, Sep 19, 13:09 (2 d)
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20849905
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R6622 liboncilla
OncillaL3.h
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#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Configurable.h>
#include <rci/Sensing.h>
#include <rci/dto/JointAngles.h>
namespace rci {
namespace oncilla {
class OncillaL3;
typedef boost::shared_ptr<OncillaL3> OncillaL3Ptr;
/**
* Node class, representing the foot/ankle of the quadruped robot. Not actuated,
* but force sensing.
*/
class OncillaL3: public rci::ResourceNode,
public rci::Sensing,
public rci::PositionSensing {
public:
OncillaL3(const std::string & name = "Oncilla Ankle");
virtual ~OncillaL3();
/**
* Returns contact forces
*/
JointAnglesPtr getJointPosition() const;
double unsafeGetPosition() const;
void unsafeUpdatePosition(double value);
/**
* Print
*/
std::string print() const;
};
}
}
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