Supervisor.h
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	/*
	* Supervisor.h
	*
	* Created on: Jan 21, 2013
	* Author: tuleu
	*/

	#ifndef SUPERVISOR_H_
	#define SUPERVISOR_H_

	#include <liboncilla/nodes/SupervisorNodes.h>
	#include "common.h"

	#include <tr1/memory>
	#include <vector>

	class OncillaBackend;

	namespace rci {
	namespace oncilla {

	class Supervisor {
	public:
	typedef boost::shared_ptr<rci::oncilla::Supervisor> Ptr;
	Supervisor(OncillaBackend & backend);
	virtual ~Supervisor();

	const SupervisorTrunk::Ptr & getTrunk();

	const SupervisorL4::Ptr & getL4(Leg l);

	const SupervisorWorld::Ptr & getWorld();
	private:
	typedef std::tr1::shared_ptr<std::runtime_error> RuntimeErrPtr;
	typedef std::vector<RuntimeErrPtr> ListOfError;

	std::vector<SupervisorL4::Ptr> d_l4s;
	ListOfError d_l4Errors;
	SupervisorTrunk::Ptr d_trunk;
	RuntimeErrPtr d_trunkError;
	SupervisorWorld::Ptr d_world;
	RuntimeErrPtr d_worldError;

	};

	} /* namespace oncilla */
	} /* namespace rci */
	#endif /* SUPERVISOR_H_ */