robPD.h

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#ifndef _robPD_H
#define _robPD_H
 
#include <cisstRobot/robControllerJoints.h>
#include <cisstRobot/robExport.h>
 
class CISST_EXPORT robPD : public robControllerJoints {
 
  double Kp;
  double Kd;
 
  double eold;
 
 public:
 
  robPD( double Kp, double Kd );
 
  vctDynamicVector<double> Control( double dt,
                    const vctDynamicVector<double>& qs,
                    const vctDynamicVector<double>& q, 
                    const vctDynamicVector<double>& qds,
                    const vctDynamicVector<double>& qd,
                    const vctDynamicVector<double>& qdds,
                    const vctDynamicVector<double>& qdd );
 
};
 
 
#endif