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 <base/JointLimits.hpp>
#include <base/commands/Joints.hpp>
 
namespace wbc {
 
class JointLimitAvoidanceController : public PotentialFieldsController{
protected:
    base::JointLimits joint_limits;
    base::commands::Joints joints_control_output;
    double epsilon;
 
public:
    JointLimitAvoidanceController(const base::JointLimits& limits,
                                  const base::VectorXd &influence_distance);
    const base::commands::Joints& update(const base::samples::Joints& feedback);
    void setJointLimits(const base::JointLimits& limits);
    void setEpsilon(const double eps){epsilon = eps;}
};
 
}
 
#endif