Page Menu
Home
c4science
Search
Configure Global Search
Log In
Files
F85032892
OncillaL4.h
No One
Temporary
Actions
Download File
Edit File
Delete File
View Transforms
Subscribe
Mute Notifications
Award Token
Subscribers
None
File Metadata
Details
File Info
Storage
Attached
Created
Thu, Sep 26, 07:53
Size
856 B
Mime Type
text/x-c++
Expires
Sat, Sep 28, 07:53 (2 d)
Engine
blob
Format
Raw Data
Handle
21119842
Attached To
R6622 liboncilla
OncillaL4.h
View Options
#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <rci/ResourceNode.h>
#include <rci/Controlled.h>
#include <rci/Configurable.h>
#include <rci/Sensing.h>
#include <rci/dto/JointAngles.h>
namespace
rci
{
namespace
oncilla
{
class
OncillaL4
;
typedef
boost
::
shared_ptr
<
OncillaL4
>
OncillaL4Ptr
;
/**
* Node class, representing the foot of the quadruped robot. Not actuated,
* but force sensing.
*/
class
OncillaL4
:
public
rci
::
ResourceNode
,
public
rci
::
Sensing
,
public
rci
::
ForceSensing
,
public
rci
::
TorqueSensing
{
public:
OncillaL4
(
const
std
::
string
&
name
=
"Oncilla Foot"
);
virtual
~
OncillaL4
();
/**
* Returns contact forces
*/
ForcesPtr
getForces
()
const
;
/**
* Print
*/
std
::
string
print
()
const
;
void
unsafeUpdateForce
(
const
double
*
data
);
};
}
}
Event Timeline
Log In to Comment