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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 <tr1/memory>


	namespace rci {
	namespace oncilla {


	class Oncilla;
	typedef std::tr1::shared_ptr<Oncilla> OncillaPtr;

	class OncillaSynchronizer;
	typedef std::tr1::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;

	class OncillaTrunk;
	typedef std::tr1::shared_ptr<OncillaTrunk> OncillaTrunkPtr;
	class OncillaL0;
	typedef std::tr1::shared_ptr<OncillaL0> OncillaL0Ptr;
	class OncillaL1L2;
	typedef std::tr1::shared_ptr<OncillaL1L2> OncillaL1Ptr;
	typedef std::tr1::shared_ptr<OncillaL1L2> OncillaL2Ptr;
	class OncillaL3;
	typedef std::tr1::shared_ptr<OncillaL3> OncillaL3Ptr;
	class OncillaL4;
	typedef std::tr1::shared_ptr<OncillaL4> OncillaL4Ptr;

	class Oncilla {
	public:

	enum Leg {
	LEFT_FORE = 0,
	RIGHT_FORE = 1,
	LEFT_HIND = 2,
	RIGHT_HIND = 3,
	NUM_LEGS = 4
	};

	static const std::string & nameOfLeg(Leg l);

	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;

	OncillaSynchronizerPtr getSynchronizer() const;


	private:
	typedef std::vector<std::string> LegNames;

	static LegNames s_legNames;

	void init();

	static OncillaSynchronizerPtr s_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;
	};

	}
	}