.. _l4:

Oncilla L4
==========

The Oncilla L4 joint represents the foot of the robot. It can't be controlled
and currently doesn't provide any sensing features. In the oncilla interface it
is therefore implemented as *supervisor*, as poses and forces can be sensed with
external sensors. This is currently implemented in simulation, which can report
the current cartesian pose and the contect forces of the foot.

Joint space control and force sensing of L4:

.. code-block:: cpp
   :emphasize-lines: 2,4,6

   Supervisor supervisor; // get robot instance
   SupervisorL4::Ptr left_fore_foot = supervisor.getL4(LEFT_FORE); // get foot supervisor

   std::cout << left_fore_foot->getForces(); // get current force sensing

   std::cout << left_fore_foot->getPose(); // get current 6d pose

Refer to the API documentation of
`rci::oncilla::SupervisorL4 <https://redmine.amarsi-project.eu/projects/quaddrivers/embedded/classrci_1_1oncilla_1_1SupervisorL4.html>`_
for the full technical interface of these joints.