CartesianForcePIDController.hpp

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#ifndef WBC_CONTROLLERS_CARTESIANFORCEPIDCONTROLLER_HPP
#define WBC_CONTROLLERS_CARTESIANFORCEPIDCONTROLLER_HPP
 
#include "PIDController.hpp"
#include <base/samples/Wrench.hpp>
#include <base/samples/RigidBodyStateSE3.hpp>
 
namespace wbc {
 
class CartesianForcePIDController : public PIDController{
protected:
    base::samples::RigidBodyStateSE3 control_output_wrench;
 
    const base::VectorXd wrenchToRaw(const base::samples::Wrench& wrench, base::VectorXd& raw);
 
public:
    CartesianForcePIDController();
 
    const base::samples::RigidBodyStateSE3& update(const base::samples::Wrench& setpoint, const base::samples::Wrench& feedback, const double dt);
};
 
}
 
#endif