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liboncilla/src/Oncilla.cpp
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Oncilla.cpp
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/*
* Oncilla.cpp
*
* Created on: 15 dec. 2011
* Author: Alexandre Tuleu, Arne Nordmann
*/
#include "Oncilla.h"
#include "OncillaTrunk.h"
#include "OncillaL01.h"
#include "OncillaL2.h"
#include "OncillaL3.h"
#include "OncillaL4.h"
namespace rci {
namespace oncilla {
Oncilla::Oncilla() :
synchronizer(), d_l0s(), d_l1s(), d_l2s(), d_l3s(), d_l4s(), d_trunk() {
}
Oncilla::~Oncilla() {
// TODO Auto-generated destructor stub
}
void Oncilla::init() {
d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 LEFT FORE")));
d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 RIGHT FORE")));
d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 LEFT HIND")));
d_l0s.push_back(OncillaL0Ptr(new OncillaL0("Oncilla L0 RIGHT HIND")));
d_l1s.push_back(
OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 LEFT FORE")));
d_l1s.push_back(
OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 RIGHT FORE")));
d_l1s.push_back(
OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 LEFT HIND")));
d_l1s.push_back(
OncillaL1Ptr(new OncillaL1(*synchronizer, "Oncilla L1 RIGHT HIND")));
d_l2s.push_back(
OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 LEFT FORE")));
d_l2s.push_back(
OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 RIGHT FORE")));
d_l2s.push_back(
OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 LEFT HIND")));
d_l2s.push_back(
OncillaL2Ptr(new OncillaL2(*synchronizer, "Oncilla L2 RIGHT HIND")));
d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 LEFT FORE")));
d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 RIGHT FORE")));
d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 LEFT HIND")));
d_l3s.push_back(OncillaL3Ptr(new OncillaL3("Oncilla L3 RIGHT HIND")));
d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 LEFT FORE")));
d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 RIGHT FORE")));
d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 LEFT HIND")));
d_l4s.push_back(OncillaL4Ptr(new OncillaL4("L4 RIGHT HIND")));
d_trunk = OncillaTrunkPtr(new OncillaTrunk("Oncilla Trunk"));
}
OncillaL0Ptr Oncilla::getL0(Leg l) const {
return this->d_l0s[l];
}
OncillaL1Ptr Oncilla::getL1(Leg l) const {
return this->d_l1s[l];
}
OncillaL2Ptr Oncilla::getL2(Leg l) const {
return this->d_l2s[l];
}
OncillaL3Ptr Oncilla::getL3(Leg l) const {
return this->d_l3s[l];
}
OncillaL4Ptr Oncilla::getL4(Leg l) const {
return this->d_l4s[l];
}
OncillaTrunkPtr Oncilla::getTrunk() const {
return this->d_trunk;
}
void Oncilla::setSynchronizer(OncillaSynchronizerPtr sync) {
this->synchronizer = sync;
}
}
}
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