robControllerJoints.h

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#ifndef _robControllerJoints_h
#define _robControllerJoints_h
 
#include <cisstVector/vctDynamicVector.h>
 
#include <cisstRobot/robExport.h>
 
class CISST_EXPORT robControllerJoints{
 
 public:
 
  virtual 
    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 ) = 0;
};
 
#endif