.. _ccaexample:

Simple Sine Movement Component
==============================

In the first example, a simple sine movement is implemented as :ref:`CCA <cca>`
component (C++) that is locally connected to the
:ref:`Oncilla CCA Interface <ccainterface>`.
The example can be executed by opening the world file *Example2.wbt* installed
by the :ref:`Oncilla Project Wizard <oncillasim:wizard>`.

In order to move the robot, the component has eight ports of
:ref:`JointAngles type <rci:JointAngles>`, that are connected to the appropriate
ports of the :ref:`Oncilla CCA Interface <ccainterface>` to move the four
:ref:`L1 and L2 <liboncilla:l1l2>` (hip and knee) joints of oncilla.

Single steps:

#. A component is created by deriving frome the CCA base node (line 27)

#. The component creates eight ports of type JointAngles to send the commands
   to the eight L1 and L2 joints (lines 37-44).

#. After calculating the desired commands, JointAngle objects with the commands
   are created and published over the ports (lines 56-64)

.. literalinclude:: ../../examples/Local-SimpleSineMovement.cpp
   :language: c
   :emphasize-lines: 27,37-44,56-64
   :linenos: