Oncilla.h
8a07c8fe5d72newexample

Oncilla.h
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			/*
			* Oncilla.h
			*
			* Created on: 15 dec. 2011
			* Author: Alexandre Tuleu, Arne Nordmann
			*/
			#pragma once

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


			namespace rci {
			namespace oncilla {


			class Oncilla;
			typedef std::tr1::shared_ptr<Oncilla> OncillaPtr;

			class OncillaSynchronizer;
			typedef std::tr1::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;

			class OncillaTrunk;
			typedef std::tr1::shared_ptr<OncillaTrunk> OncillaTrunkPtr;
			class OncillaL0;
			typedef std::tr1::shared_ptr<OncillaL0> OncillaL0Ptr;
			class OncillaL1L2;
			typedef std::tr1::shared_ptr<OncillaL1L2> OncillaL1Ptr;
			typedef std::tr1::shared_ptr<OncillaL1L2> OncillaL2Ptr;
			class OncillaL3;
			typedef std::tr1::shared_ptr<OncillaL3> OncillaL3Ptr;
			class OncillaL4;
			typedef std::tr1::shared_ptr<OncillaL4> OncillaL4Ptr;

			class Oncilla {
			public:

			enum Leg {
			LEFT_FORE = 0,
			RIGHT_FORE = 1,
			LEFT_HIND = 2,
			RIGHT_HIND = 3,
			NUM_LEGS = 4
			};

			static const std::string & nameOfLeg(Leg l);

			Oncilla();
			virtual ~Oncilla();

			OncillaL0Ptr getL0(Leg l) const;
			OncillaL1Ptr getL1(Leg l) const;
			OncillaL2Ptr getL2(Leg l) const;
			OncillaL3Ptr getL3(Leg l) const;
			OncillaL4Ptr getL4(Leg l) const;
			OncillaTrunkPtr getTrunk() const;

			OncillaSynchronizerPtr getSynchronizer() const;


			private:
			typedef std::vector<std::string> LegNames;

			static LegNames s_legNames;

			void init();

			static OncillaSynchronizerPtr s_synchronizer;

			std::vector<OncillaL0Ptr> d_L0s;
			std::vector<OncillaL1Ptr> d_L1s;
			std::vector<OncillaL2Ptr> d_L2s;
			std::vector<OncillaL3Ptr> d_L3s;
			std::vector<OncillaL4Ptr> d_L4s;

			OncillaTrunkPtr d_trunk;
			};

			}
			}