OncillaBackend.h
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	/*
	* Backend.h
	*
	* Created on: Jan 18, 2013
	* Author: tuleu
	*/

	#ifndef LIBONCILLA_ONCILLABACKEND_H_
	#define LIBONCILLA_ONCILLABACKEND_H_


	#include <biorob-cpp/plugin/PluginLoader.h>
	#include <biorob-cpp/base/common.h>
	#include <boost/shared_ptr.hpp>
	#include <liboncilla/common.h>

	namespace rci{
	namespace oncilla{

	class Synchronizer;
	class L0;
	class L1L2;
	class L3;
	typedef L1L2 L1;
	typedef L1L2 L2;
	class Trunk;
	class SupervisorTrunk;
	class SupervisorL4;
	}
	}

	class OncillaBackend {
	BIOROB_CPP_DECLARE_PLUGIN(OncillaBackend);
	DISABLE_ASSIGNEMENT(OncillaBackend);
	DISABLE_COPY(OncillaBackend);
	public :
	typedef std::tr1::shared_ptr<OncillaBackend> Ptr;

	virtual ~OncillaBackend();
	virtual boost::shared_ptr<rci::oncilla::Synchronizer> CreateSynchronizer() = 0;

	virtual boost::shared_ptr<rci::oncilla::L0> CreateL0(rci::oncilla::Leg l,
	const std::string & name ) = 0;
	virtual boost::shared_ptr<rci::oncilla::L1> CreateL1(rci::oncilla::Leg l,
	const std::string & name ) = 0;
	virtual boost::shared_ptr<rci::oncilla::L2> CreateL2(rci::oncilla::Leg l,
	const std::string & name ) = 0;
	virtual boost::shared_ptr<rci::oncilla::L3> CreateL3(rci::oncilla::Leg l,
	const std::string & name ) = 0;

	virtual boost::shared_ptr<rci::oncilla::Trunk> CreateTrunk() = 0;

	virtual boost::shared_ptr<rci::oncilla::SupervisorTrunk> CreateSupervisorTrunk() = 0;
	virtual boost::shared_ptr<rci::oncilla::SupervisorL4> CreateSupervisorL4(rci::oncilla::Leg l,
	const std::string & name ) = 0;

	};

	#endif /* LIBONCILLA_ONCILLABACKEND_H_ */