Oncilla.h
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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 <boost/shared_ptr.hpp>

			/*
			*
			*/
			/*
			*
			*/
			namespace rci {
			namespace oncilla {

			class Oncilla;
			typedef boost::shared_ptr<Oncilla> OncillaPtr;

			class OncillaSynchronizer;
			typedef boost::shared_ptr<OncillaSynchronizer> OncillaSynchronizerPtr;

			class OncillaTrunk;
			typedef boost::shared_ptr<OncillaTrunk> OncillaTrunkPtr;
			class OncillaL0;
			typedef boost::shared_ptr<OncillaL0> OncillaL0Ptr;
			class OncillaL1;
			typedef boost::shared_ptr<OncillaL1> OncillaL1Ptr;
			class OncillaL2;
			typedef boost::shared_ptr<OncillaL2> OncillaL2Ptr;
			class OncillaL3;
			typedef boost::shared_ptr<OncillaL3> OncillaL3Ptr;
			class OncillaL4;
			typedef boost::shared_ptr<OncillaL4> OncillaL4Ptr;

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

			Oncilla(OncillaSynchronizerPtr synchronizer);
			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;


			private:
			void init();

			OncillaSynchronizerPtr d_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;
			};

			}
			}