File simple_control.hpp

File List > control > simple_control.hpp

Go to the documentation of this file

#ifndef ROBOT_DART_CONTROL_SIMPLE_CONTROL
#define ROBOT_DART_CONTROL_SIMPLE_CONTROL

#include <robot_dart/control/robot_control.hpp>

namespace robot_dart {
    namespace control {

        class SimpleControl : public RobotControl {
        public:
            SimpleControl();
            SimpleControl(const Eigen::VectorXd& ctrl, bool full_control = false);
            SimpleControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs);

            void configure() override;
            Eigen::VectorXd calculate(double) override;
            std::shared_ptr<RobotControl> clone() const override;
        };
    } // namespace control
} // namespace robot_dart

#endif