OncillaFoot.h
a92ac2ba5450tuleu-dev

OncillaFoot.h
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			#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 OncillaFoot;
			typedef boost::shared_ptr<OncillaFoot> OncillaFootPtr;

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

			public:

			OncillaFoot(std::string name = "Oncilla Foot");

			virtual ~OncillaFoot();

			/**
			* Returns contact forces
			*/
			ForcesPtr getForces() 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 Foot");
			};

			}
			}
			}