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();
	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;

	void setSynchronizer(OncillaSynchronizerPtr synchronizer);



	private:
	void init();

	OncillaSynchronizerPtr 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;
	};

	}
	}