OncillaL0.cpp
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	#include "OncillaL0.h"

	using namespace std;

	namespace rci {
	namespace oncilla {

	OncillaL0::OncillaL0(const std::string &name)
	: ResourceNode(name)
	, Controlled()
	, PositionControlled() {
	// \todo add default value as a setting
	_controlMode = modeJointPositionControl;
	_lastCommandedPosition = JointAngles::create(1,0.0);
	}

	bool OncillaL0::isConverged() const {
	return false;
	}

	void OncillaL0::unsafeSetCommand(double value){
	this->_lastCommandedPosition->setValue(value);
	}

	double OncillaL0::unsafeGetCommand() const{
	return this->_lastCommandedPosition->asDouble(0,false);
	}

	bool OncillaL0::setJointPosition(JointAnglesPtr position) {
	// Successfull
	this->_lastCommandedPosition = position;
	return true;
	}

	JointAnglesPtr OncillaL0::getLastPositionCommand() const {
	if (this->_lastCommandedPosition) {
	return this->_lastCommandedPosition;
	}

	throw runtime_error("No position command received yet.");
	}

	OncillaL0::~OncillaL0() {
	}

	std::string OncillaL0::print() const {
	ostringstream outstream(ostringstream::out);
	outstream.precision(3); // Precision when printing double values
	outstream << "<Oncilla Hip>" << endl;
	return outstream.str();
	}

	}
	}