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Oncilla.h
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Created
Fri, Jun 28, 06:59
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1 KB
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text/x-c++
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Sun, Jun 30, 06:59 (2 d)
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blob
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18613451
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R6622 liboncilla
Oncilla.h
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/*
* Oncilla.h
*
* Created on: 15 dec. 2011
* Author: Alexandre Tuleu, Arne Nordmann
*/
#pragma once
#include "OncillaTrunk.h"
#include "OncillaL01.h"
#include "OncillaL2.h"
#include "OncillaL3.h"
#include "OncillaL4.h"
/*
*
*/
/*
*
*/
namespace
rci
{
namespace
oncilla
{
class
OncillaSynchronizer
;
typedef
boost
::
shared_ptr
<
OncillaSynchronizer
>
OncillaSynchronizerPtr
;
class
Oncilla
;
typedef
boost
::
shared_ptr
<
Oncilla
>
OncillaPtr
;
class
Oncilla
{
public:
enum
Leg
{
LEFT_FORE
=
0
,
RIGHT_FORE
=
1
,
LEFT_HIND
=
2
,
RIGHT_HIND
=
3
,
NUM_LEGS
=
4
};
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
;
void
setSynchronizer
(
OncillaSynchronizerPtr
synchronizer
);
private:
void
init
();
OncillaSynchronizerPtr
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
;
};
}
}
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