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Oncilla.h
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Created
Sun, Sep 22, 07:26
Size
1 KB
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text/x-c++
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Tue, Sep 24, 07:26 (1 d, 23 h)
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20995743
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R6622 liboncilla
Oncilla.h
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/*
* Oncilla.h
*
* Created on: 15 dec. 2011
* Author: Alexandre Tuleu, Arne Nordmann
*/
#pragma once
#include <vector>
#include <iostream>
#include <boost/shared_ptr.hpp>
#include "common.h"
#include "OncillaSynchronizer.h"
namespace
rci
{
namespace
oncilla
{
class
Oncilla
;
typedef
boost
::
shared_ptr
<
Oncilla
>
OncillaPtr
;
class
OncillaSynchronizer
;
typedef
boost
::
shared_ptr
<
OncillaSynchronizer
>
OncillaSynchronizerPtr
;
class
Oncilla
{
public:
static
const
std
::
string
&
nameOfLeg
(
Leg
l
);
Oncilla
();
virtual
~
Oncilla
();
OncillaL0Ptr
getL0
(
Leg
l
)
const
;
OncillaL1Ptr
getL1
(
Leg
l
)
const
;
OncillaL2Ptr
getL2
(
Leg
l
)
const
;
OncillaL3Ptr
getL3
(
Leg
l
)
const
;
OncillaL4Ptr
getL4
(
Leg
l
)
const
;
OncillaTrunkPtr
getTrunk
()
const
;
OncillaSynchronizerPtr
getSynchronizer
()
const
;
private:
typedef
std
::
vector
<
std
::
string
>
LegNames
;
static
LegNames
s_legNames
;
void
init
();
static
OncillaSynchronizerPtr
s_synchronizer
;
std
::
vector
<
OncillaL0Ptr
>
d_L0s
;
std
::
vector
<
OncillaL1Ptr
>
d_L1s
;
std
::
vector
<
OncillaL2Ptr
>
d_L2s
;
std
::
vector
<
OncillaL3Ptr
>
d_L3s
;
std
::
vector
<
OncillaL4Ptr
>
d_L4s
;
OncillaTrunkPtr
d_trunk
;
};
}
}
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