OncillaL3.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>

	#include <rci/dto/JointAngles.h>

	namespace rci {
	namespace oncilla {

	class OncillaL3;
	typedef std::tr1::shared_ptr<OncillaL3> OncillaL3Ptr;

	/**
	* Node class, representing the foot/ankle of the quadruped robot. Not actuated,
	* but force sensing.
	*/
	class OncillaL3: public rci::ResourceNode,
	public rci::Sensing,
	public rci::PositionSensing {

	public:

	OncillaL3(const std::string & name = "Oncilla Ankle");

	virtual ~OncillaL3();

	/**
	* Returns contact forces
	*/
	JointAnglesPtr getJointPosition() const;

	/**
	* Print
	*/
	std::string print() const;
	};

	}
	}