OncillaAnkle.h
a92ac2ba5450tuleu-dev

OncillaAnkle.h
View Options

			#pragma once

			#include <iostream>
			#include <boost/shared_ptr.hpp>

			#include <cca/dto/debug/DebugDTO.h>

			#include <rci/nodes/ResourceNode.h>
			#include <rci/nodes/Controlled.h>
			#include <rci/nodes/Configurable.h>
			#include <rci/nodes/Sensing.h>

			#include <rci/dto/JointAngles.h>

			namespace cca {
			namespace rci {
			namespace driver {

			class OncillaAnkle;
			typedef boost::shared_ptr<OncillaAnkle> OncillaAnklePtr;

			/**
			* Node class, representing the foot/ankle of the quadruped robot. Not actuated,
			* but force sensing.
			*/
			class OncillaAnkle: public rci::ResourceNode,
			public rci::Sensing,
			public rci::PositionSensing {

			public:

			OncillaAnkle(std::string name = "Oncilla Ankle");

			virtual ~OncillaAnkle();

			/**
			* Returns contact forces
			*/
			JointAnglesPtr getJointPosition() const;

			/**
			* Main data-flow process method
			* Main data-flow process method. Every time called, when a new data-flow
			* item arrives.
			* @todo marshalling and calling control methods
			*/
			void onProcess();

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

			/**
			* Shared Pointer Factory
			*/
			static CCANodePtr create(std::string name = "Oncilla Ankle");
			};

			}
			}
			}