OncillaTrunk.cpp
a92ac2ba5450newexample

OncillaTrunk.cpp
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			#include "OncillaTrunk.h"

			using namespace std;

			namespace cca {
			namespace rci {
			namespace driver {

			OncillaTrunk::OncillaTrunk(std::string name) :
			ResourceNode(name), Sensing(), PoseSensing() {
			this->_dimension = 1;

			// TODO: Don`t send pose, but acceleration
			this->addOutputPort<Pose> (); // PoseSensing
			}

			PosePtr OncillaTrunk::getAbsolutePose() const {
			throw std::runtime_error("Not yet implemented.");
			}

			PosePtr OncillaTrunk::getDisplacement() const {
			throw std::runtime_error("Not yet implemented.");
			}

			PosePtr OncillaTrunk::getAcceleration() const {
			throw std::runtime_error("Not yet implemented.");
			}

			OncillaTrunk::~OncillaTrunk() {
			}

			void OncillaTrunk::onProcess() {
			throw std::runtime_error("Not yet implemented.");
			}

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

			CCANodePtr OncillaTrunk::create(string name) {
			CCANodePtr node(new OncillaTrunk(name));
			return node;
			}

			}
			}
			}