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OncillaL4.h
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Tue, Jun 4, 02:00
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758 B
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R6622 liboncilla
OncillaL4.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 OncillaL4;
typedef std::tr1::shared_ptr<OncillaL4> OncillaL4Ptr;
/**
* Node class, representing the foot of the quadruped robot. Not actuated,
* but force sensing.
*/
class OncillaL4: public rci::ResourceNode,
public rci::Sensing,
public rci::ForceSensing {
public:
OncillaL4(const std::string & name = "Oncilla Foot");
virtual ~OncillaL4();
/**
* Returns contact forces
*/
ForcesPtr getForces() const;
/**
* Print
*/
std::string print() const;
};
}
}
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