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OncillaL3.h
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Created
Mon, Aug 19, 20:24
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840 B
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text/x-c++
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Wed, Aug 21, 20:24 (2 d)
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20024865
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R6622 liboncilla
OncillaL3.h
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#pragma once
#include <iostream>
#include <boost/shared_ptr.hpp>
#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
OncillaL3
;
typedef
boost
::
shared_ptr
<
OncillaL3
>
OncillaL3Ptr
;
/**
* Node class, representing the foot/ankle of the quadruped robot. Not actuated,
* but force sensing.
*/
class
OncillaL3
:
public
rci
::
ResourceNode
,
public
rci
::
Sensing
,
public
rci
::
PositionSensing
{
public:
OncillaL3
(
const
std
::
string
&
name
=
"Oncilla Ankle"
);
virtual
~
OncillaL3
();
/**
* Returns contact forces
*/
JointAnglesPtr
getJointPosition
()
const
;
/**
* Print
*/
std
::
string
print
()
const
;
};
}
}
}
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