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