CartesianPotentialFieldsController.hpp

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#ifndef CARTESIAN_POTENTIAL_FIELDS_CONTROLLER_HPP
#define CARTESIAN_POTENTIAL_FIELDS_CONTROLLER_HPP
 
#include "PotentialFieldsController.hpp"
#include <base/samples/RigidBodyStateSE3.hpp>
 
namespace wbc{

class CartesianPotentialFieldsController : public PotentialFieldsController{
protected:
    base::samples::RigidBodyStateSE3 cartesian_control_output;
 
public:
    CartesianPotentialFieldsController();

    const base::samples::RigidBodyStateSE3& update(const base::samples::RigidBodyStateSE3& feedback);
};
 
}
 
#endif