.. _trunk:

Oncilla Trunk
=============

The Oncilla Trunk is able to sense translational acceleration and orientation
of the robot's trunk.

To get these values:

.. code-block:: cpp
   :emphasize-lines: 4,5

   Oncilla oncilla; // get robot instance
   Trunk::Ptr trunk = oncilla.getTrunk(); // get trunk

   std::cout << trunk->getOrientation(); // gets current orientation
   std::cout << trunk->getTranslationalAcceleration(); // gets current acceleration

Refer to the API documentation of
`rci::oncilla::OncillaTrunk <https://redmine.amarsi-project.eu/projects/quaddrivers/embedded/classrci_1_1oncilla_1_1OncillaTrunk.html>`_
for the full technical interface of the trunk.