OncillaL3.cpp
29079f3278ectuleu-dev

OncillaL3.cpp
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			#include "OncillaL3.h"

			using namespace std;

			namespace rci {
			namespace oncilla {

			OncillaL3::OncillaL3(const std::string & name)
			: rci::ResourceNode(name)
			, rci::Sensing()
			, rci::PositionSensing() {
			this->_latestJointPosition = JointAngles::create(1,0.0);
			}

			JointAnglesPtr OncillaL3::getJointPosition() const {
			throw std::runtime_error("Oncilla L3 position readout is not yet implemented.");
			}

			OncillaL3::~OncillaL3() {
			}

			std::string OncillaL3::print() const {
			ostringstream outstream(ostringstream::out);
			outstream.precision(3); // Precision when printing double values
			outstream << "<Oncilla Ankle>" << endl;
			return outstream.str();
			}


			double OncillaL3::unsafeGetPosition() const{
			return this->_latestJointPosition->asDouble(0);
			}


			void OncillaL3::unsafeUpdatePosition(double value){
			this->_latestJointPosition->setValue(0,value);
			}


			}
			}