osaGravityCompensation.h

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#ifndef _osaGravityCompensation_h
#define _osaGravityCompensation_h

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

class CISST_EXPORT osaGravityCompensation : public robManipulator {

 public:

  enum Errno{ ESUCCESS, EFAILURE };

 public:


  osaGravityCompensation( const std::string& robfile,
              const vctFrame4x4<double>& Rtwb );
  


  osaGravityCompensation::Errno
    Evaluate( const vctDynamicVector<double>& q,
          vctDynamicVector<double>& tau );

};

#endif