OncillaTrunk.h
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OncillaTrunk.h
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			#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>

			namespace rci {
			namespace oncilla {

			class OncillaTrunk;
			typedef boost::shared_ptr<OncillaTrunk> OncillaTrunkPtr;

			/**
			* Node class, representing the quadruped trunk, including pose sensing.
			*/
			class OncillaTrunk: public rci::ResourceNode,
			public Sensing,
			public PoseSensing {

			public:

			OncillaTrunk(const std::string & name = "Oncilla Trunk");
			virtual ~OncillaTrunk();

			/**
			* Returns current pose.
			* @return Current pose
			*/
			virtual PosePtr getAbsolutePose() const;

			/**
			* Returns current displacement.
			* @return Current pose
			*/
			virtual PosePtr getDisplacement() const;

			/**
			* Returns current translational and rotational acceleration.
			* @return Current pose
			*/
			virtual PosePtr getAcceleration() const;

			/**
			* Print
			*/
			std::string print() const;

			};

			}
			}