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Oncilla.h
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Thu, Sep 26, 08:20
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text/x-c++
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R6622 liboncilla
Oncilla.h
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/*
* Oncilla.h
*
* Created on: 15 dec. 2011
* Author: Alexandre Tuleu, Arne Nordmann
*/
#pragma once
#include <vector>
#include <iostream>
#include <boost/shared_ptr.hpp>
/*
*
*/
/*
*
*/
namespace
rci
{
namespace
oncilla
{
class
Oncilla
;
typedef
boost
::
shared_ptr
<
Oncilla
>
OncillaPtr
;
class
OncillaSynchronizer
;
typedef
boost
::
shared_ptr
<
OncillaSynchronizer
>
OncillaSynchronizerPtr
;
class
OncillaTrunk
;
typedef
boost
::
shared_ptr
<
OncillaTrunk
>
OncillaTrunkPtr
;
class
OncillaL0
;
typedef
boost
::
shared_ptr
<
OncillaL0
>
OncillaL0Ptr
;
class
OncillaL1
;
typedef
boost
::
shared_ptr
<
OncillaL1
>
OncillaL1Ptr
;
class
OncillaL2
;
typedef
boost
::
shared_ptr
<
OncillaL2
>
OncillaL2Ptr
;
class
OncillaL3
;
typedef
boost
::
shared_ptr
<
OncillaL3
>
OncillaL3Ptr
;
class
OncillaL4
;
typedef
boost
::
shared_ptr
<
OncillaL4
>
OncillaL4Ptr
;
class
Oncilla
{
public:
enum
Leg
{
LEFT_FORE
=
0
,
RIGHT_FORE
=
1
,
LEFT_HIND
=
2
,
RIGHT_HIND
=
3
,
NUM_LEGS
=
4
};
Oncilla
(
OncillaSynchronizerPtr
synchronizer
);
virtual
~
Oncilla
();
OncillaL0Ptr
getL0
(
Leg
l
)
const
;
OncillaL1Ptr
getL1
(
Leg
l
)
const
;
OncillaL2Ptr
getL2
(
Leg
l
)
const
;
OncillaL3Ptr
getL3
(
Leg
l
)
const
;
OncillaL4Ptr
getL4
(
Leg
l
)
const
;
OncillaTrunkPtr
getTrunk
()
const
;
private:
void
init
();
OncillaSynchronizerPtr
d_synchronizer
;
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
;
OncillaTrunkPtr
d_trunk
;
};
}
}
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