osaPDGC.h

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#ifndef _osaPDGC_h
#define _osaPDGC_h

#include <cisstRobot/robManipulator.h>
#include <sawControllers/sawControllersExport.h>

class CISST_EXPORT osaPDGC : public robManipulator {

 public:

  enum Errno{ ESUCCESS, EFAILURE };

 private:

  vctDynamicMatrix<double> Kp;
  vctDynamicMatrix<double> Kd;

  vctDynamicVector<double> qold;
  vctDynamicVector<double> eold;

 public:


  osaPDGC( const std::string& robfilename, 
       const vctFrame4x4<double>& Rtwb,
       const vctDynamicMatrix<double>& Kp,
       const vctDynamicMatrix<double>& Kd,
       const vctDynamicVector<double>& qinit );
  

  osaPDGC::Errno
    Evaluate( const vctDynamicVector<double>& qs,
          const vctDynamicVector<double>& q,
          vctDynamicVector<double>& tau,
          double dt );

};

#endif