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OncillaTrunk.h
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Sat, Sep 7, 19:26
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R6622 liboncilla
OncillaTrunk.h
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#pragma once
#include <iostream>
#include <tr1/memory>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Configurable.h>
#include <rci/Sensing.h>
namespace
rci
{
namespace
oncilla
{
class
OncillaTrunk
;
typedef
std
::
tr1
::
shared_ptr
<
OncillaTrunk
>
OncillaTrunkPtr
;
/**
* Node class, representing the quadruped trunk, including pose sensing.
*
* @todo Expose translational accelerations and rotational velocities
*/
class
OncillaTrunk
:
public
rci
::
ResourceNode
,
public
Sensing
,
public
PoseSensing
{
public:
OncillaTrunk
(
const
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
;
};
}
}
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