JointTorqueController.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */
 
#ifndef CTRL_LIB_JOINTTORQUECONTROLLER_TASK_HPP
#define CTRL_LIB_JOINTTORQUECONTROLLER_TASK_HPP
 
#include "ctrl_lib/JointTorqueControllerBase.hpp"
#include <base/commands/Joints.hpp>
#include <wbc/controllers/JointTorquePIDController.hpp>
 
namespace ctrl_lib{
 
class JointTorquePIDController;
 
class JointTorqueController : public JointTorqueControllerBase
{
    friend class JointTorqueControllerBase;
 
public:
    JointTorqueController(std::string const& name = "ctrl_lib::JointTorqueController");
    JointTorqueController(std::string const& name, RTT::ExecutionEngine* engine);
    ~JointTorqueController(){}
    bool configureHook();
    bool startHook();
    void updateHook();
    void errorHook();
    void stopHook();
    void cleanupHook();
 
protected:
    virtual bool readFeedback();
    virtual bool readSetpoint();
    virtual void updateController();
    virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function);
 
    base::commands::Joints setpoint, control_output, feedback;
    wbc::JointTorquePIDController* controller;
 
};
}
 
#endif