JointTorquePIDController.hpp

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#ifndef WBC_CONTROLLERS_JOINTTORQUEPIDCONTROLLER_HPP
#define WBC_CONTROLLERS_JOINTTORQUEPIDCONTROLLER_HPP
 
#include "PIDController.hpp"
#include <base/commands/Joints.hpp>
 
namespace wbc{
 
class JointTorquePIDController : public PIDController{
protected:
    base::commands::Joints control_output_joints;
    std::vector<std::string> joint_names;
 
    void extractFeedback(const base::samples::Joints& feedback);
    void extractSetpoint(const base::commands::Joints& setpoint);
public:
    JointTorquePIDController(const std::vector<std::string>& joint_names);
    virtual ~JointTorquePIDController(){}
 
    const base::commands::Joints& update(const base::commands::Joints& setpoint, const base::samples::Joints& feedback, const double& dt);
 
};
 
}
 
#endif // WBC_CONTROLLERS_JOINTTORQUEPIDCONTROLLER_HPP