mtsVFFollowJacobian.h

Go to the documentation of this file.

/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
 $Id: $

 Author(s):  Paul Wilkening
 Created on:

 (C) Copyright 2013 Johns Hopkins University (JHU), All Rights Reserved.

 --- begin cisst license - do not edit ---

 This software is provided "as is" under an open source license, with
 no warranty.  The complete license can be found in license.txt and
 http://www.cisst.org/cisst/license.txt.

 --- end cisst license ---
 */

#ifndef _mtsVFFollowJacobian_h
#define _mtsVFFollowJacobian_h

#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstVector/vctDynamicMatrixTypes.h>
#include <sawConstraintController/prmSensorState.h>
#include <sawConstraintController/mtsVFBase.h>
#include <sawConstraintController/mtsVFJointPos.h>
#include <cisstRobot/robManipulator.h>


class mtsVFFollowJacobian : public mtsVFJointPosition
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_LOD_RUN_VERBOSE)

public:

    prmKinematicsState * CurrentKinematics;
    prmKinematicsState * DesiredKinematics;        

    mtsVFFollowJacobian() : mtsVFJointPosition(){}

    mtsVFFollowJacobian(const std::string & name, mtsVFDataBase * data) : mtsVFJointPosition(name,data){}


    void FillInTableauRefs(const mtsVFBase::CONTROLLERMODE mode, const double TickTime);

//    vctDoubleVec GetAxisAngle(const vctDoubleMat &m);

};

CMN_DECLARE_SERVICES_INSTANTIATION(mtsVFFollowJacobian)

#endif