CartesianPosPDController.hpp

Go to the documentation of this file.

#ifndef WBC_CART_POS_PD_CONTROLLER_HPP
#define WBC_CART_POS_PD_CONTROLLER_HPP
 
#include "PosPDController.hpp"
#include <base/samples/RigidBodyStateSE3.hpp>
 
namespace wbc {
 
class CartesianPosPDController : public PosPDController{
protected:
    base::samples::RigidBodyStateSE3 control_output;
    base::Vector6d control_error;
    base::Twist pose_diff;
    base::Acceleration vel_diff;
 
    void extractFeedback(const base::samples::RigidBodyStateSE3& feedback);
    void extractSetpoint(const base::samples::RigidBodyStateSE3& setpoint, const base::samples::RigidBodyStateSE3& feedback);
 
public:
    CartesianPosPDController();
    const base::samples::RigidBodyStateSE3& update(const base::samples::RigidBodyStateSE3& setpoint, const base::samples::RigidBodyStateSE3& feedback);
};
 
}
#endif