Aggiunta restituzione Z_acc su gamba

src/collections/headers/gamba.hpp

@@ -6,7 +6,7 @@
 
 class Gamba : public CollectionInterface {
     protected:
-        std::vector<PieceInterface*> sensori;
+        std::vector<Sensore*> sensori;
         std::vector<PieceInterface*> pezzi;
         std::vector<JointInterface*> joints;
     public:
@@ -15,6 +15,7 @@ class Gamba : public CollectionInterface {
         PieceInterface* getJointPiece();
         void setDirection(Direction dir);
         bool setTransparency(float alpha) override;
+        float getZ_Acc();
 };
 
 #endif

src/collections/methods/gamba.cpp

@@ -66,4 +66,14 @@ bool Gamba::setTransparency(float alpha){
         if (!i->setTransparency(alpha)) return false;
     }
     return true;
+}
+
+float Gamba::getZ_Acc(){
+    
+    float totZ_Acc = 0;
+    for (auto i : sensori){
+        totZ_Acc += i->getZ_Acc();
+    }
+    
+    return totZ_Acc;
 }