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OncillaFoot.h
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Sat, Oct 19, 02:16
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1 KB
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text/x-c++
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Mon, Oct 21, 02:16 (2 d)
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21780399
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R6622 liboncilla
OncillaFoot.h
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#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");
};
}
}
}
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