mtsPDGC.h

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#ifndef _mtsPDGC_h
#define _mtsPDGC_h

#include <sawControllers/mtsController.h>
#include <sawControllers/osaPDGC.h>
#include <sawControllers/sawControllersExport.h>

class CISST_EXPORT mtsPDGC : public mtsController {

 private:

  osaPDGC* PDGC;

  mtsFunctionRead  GetFeedbackPositions;

  mtsFunctionRead  GetDesiredPositions;

  mtsFunctionWrite SetTorques;

 public:


  mtsPDGC( const std::string& taskname,
       double period,
       const std::string& robfile,
       const vctFrame4x4<double>& Rtwb,
       const vctDynamicMatrix<double>& K,
       const vctDynamicMatrix<double>& Kd,
       const vctDynamicVector<double>& qinit,
       osaCPUMask cpumask = OSA_CPUANY );

  ~mtsPDGC();

  void Configure( const std::string& argv );

  void Startup();
  void Run();
  void Cleanup();      

};

#endif