OncillaL4.h
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	#pragma once

	#include <iostream>
	#include <boost/shared_ptr.hpp>

	#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 boost::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 rci::TorqueSensing{

	public:

	OncillaL4(const std::string & name = "Oncilla Foot");

	virtual ~OncillaL4();

	/**
	* Returns contact forces
	*/
	ForcesPtr getForces() const;

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


	void unsafeUpdateForce(const double * data);
	};

	}
	}