JointPosPDController.hpp

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#ifndef WBC_JOINT_POS_PD_CONTROLLER_HPP
#define WBC_JOINT_POS_PD_CONTROLLER_HPP
 
#include "PosPDController.hpp"
#include <base/commands/Joints.hpp>
 
namespace wbc {
 
class JointPosPDController : public PosPDController{
protected:
    base::commands::Joints control_output;
    std::vector<std::string> joint_names;
 
    void extractFeedback(const base::samples::Joints& feedback);
    void extractSetpoint(const base::commands::Joints& setpoint);
 
public:
    JointPosPDController(const std::vector<std::string>& joint_names);
 
    const base::commands::Joints& update(const base::commands::Joints& setpoint, const base::samples::Joints& feedback);
};
 
}
#endif