Synchronizer.h
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	#pragma once

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

	#include <rci/Synchronizer.h>

	#include "common.h"


	namespace rci {
	namespace oncilla {




	/**
	* Synchronizer
	* Different OncillaSynchronizers may be for example:
	* * Update with a given frequency
	* ** Send data every time
	* ** Send only if new data
	* * Update only if new data (event-based)
	* * Triggered from robot side (e.g. FRI)
	*/
	class Synchronizer: public ::rci::Synchronizer {
	public:
	typedef boost::shared_ptr<rci::oncilla::Synchronizer> Ptr;

	Synchronizer(const std::string &name);
	virtual ~Synchronizer();


	/**
	*
	*/
	friend std::ostream
	& operator<<(std::ostream& os, const Synchronizer& val);

	virtual double lastProcessTimeStep() const = 0;

	};

	}
	}