JointLimitAvoidanceController.hpp

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#ifndef JOINT_LIMIT_AVOIDANCE_CONTROLLER_HPP
#define JOINT_LIMIT_AVOIDANCE_CONTROLLER_HPP
 
#include "PotentialField.hpp"
#include "PotentialFieldsController.hpp"
#include "../types/JointLimits.hpp"
#include "../types/JointCommand.hpp"
#include "../types/JointState.hpp"
 
namespace wbc {
 
class JointLimitAvoidanceController : public PotentialFieldsController{
protected:
    types::JointLimits joint_limits;
    types::JointCommand joints_control_output;
    double epsilon;
 
public:
    JointLimitAvoidanceController(const types::JointLimits& joint_limits,
                                  const std::vector<std::string> joint_names,
                                  const Eigen::VectorXd &influence_distance);
    const types::JointCommand& update(const types::JointState& feedback);
    void setEpsilon(const double eps){epsilon = eps;}
};
 
}
 
#endif