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L1L2.cpp
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	#include "L1L2.h"

	#include <liboncilla/exceptions/NotImplementedError.h>

	using namespace std;

	namespace rci{
	namespace oncilla{
	L1L2::L1L2(Synchronizer &s, const std::string &name)
	: ResourceNode(name)
	, Controlled()
	, Sensing()
	, PositionControlled()
	, PositionSensing()
	, TorqueControlled()
	, ImpedanceControlled()
	, synchronizer(s) {
	/// \todo add default value as setting
	this->_controlMode = modeJointPositionControl;
	this->_lastCommandedPosition = JointAngles::create(1,0.0);
	this->_latestJointPosition = JointAngles::create(2,0.0);
	}



	L1L2::~L1L2() {
	}

	std::string L1L2::print() const {
	ostringstream outstream(ostringstream::out);
	outstream.precision(3); // Precision when printing double values
	outstream << "<Oncilla Hip>" << endl;
	return outstream.str();
	}


	bool L1L2::isConverged() const{
	throw NotImplementedError("liboncilla","isConverged","L1L2");
	}

	void L1L2::unsafeSetCommand(double value){
	this->_lastCommandedPosition->setValue(0,value);
	}

	double L1L2::unsafeGetCommand() const{
	return this->_lastCommandedPosition->asDouble(0);
	}

	double L1L2::unsafeGetMotorAxisPosition() const{
	return this->_latestJointPosition->asDouble(MotorAxisIndex);
	}

	double L1L2::unsafeGetMagneticEncoderPosition() const{
	return this->_latestJointPosition->asDouble(MagneticEncoderIndex);
	}

	void L1L2::unsafeUpdateMotorAxisPosition(double value){
	this->_latestJointPosition->setValue(MotorAxisIndex,value);
	}


	void L1L2::unsafeUpdateMagneticEncoderPosition(double value){
	this->_latestJointPosition->setValue(MagneticEncoderIndex,value);
	}

	}
	}