OncillaAnkle.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 OncillaAnkle;
	typedef boost::shared_ptr<OncillaAnkle> OncillaAnklePtr;

	/**
	* Node class, representing the foot/ankle of the quadruped robot. Not actuated,
	* but force sensing.
	*/
	class OncillaAnkle: public rci::ResourceNode,
	public rci::Sensing,
	public rci::PositionSensing {

	public:

	OncillaAnkle(std::string name = "Oncilla Ankle");

	virtual ~OncillaAnkle();

	/**
	* Returns contact forces
	*/
	JointAnglesPtr getJointPosition() 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 Ankle");
	};

	}
	}
	}