robComputedTorque.h

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#ifndef _robComputedTorque_H
#define _robComputedTorque_H
 
#include <cisstRobot/robControllerJoints.h>
#include <cisstRobot/robManipulator.h>
#include <cisstRobot/robExport.h>
 
class CISST_EXPORT robComputedTorque : 
 
  public robControllerJoints,
  public robManipulator {
 
 protected:
 
  vctDynamicVector<double> qold;
  vctDynamicVector<double> eold;
 
  vctDynamicMatrix<double> Kp;
  vctDynamicMatrix<double> Kd;
 
 public:
 
  robComputedTorque( const std::string& robfile,
             const vctFrame4x4<double>& Rtw0,
             const vctDynamicMatrix<double>& Kp,
                     const vctDynamicMatrix<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