PotentialFieldsController.hpp

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#ifndef POTENTIAL_FIELDS_CONTROLLER_HPP
#define POTENTIAL_FIELDS_CONTROLLER_HPP
 
#include "PotentialFieldInfo.hpp"
#include <vector>
 
namespace wbc{

class PotentialFieldsController{
protected:
    Eigen::VectorXd p_gain, max_ctrl_output, control_output;
    std::vector<PotentialFieldPtr> fields;
    std::vector<PotentialFieldInfo> field_infos;
    uint dimension;
 
public:
    PotentialFieldsController(const uint _dimension);
    void applySaturation(const Eigen::VectorXd& in, Eigen::VectorXd &out);
    void setFields(const std::vector<PotentialFieldPtr>& _fields);
    std::vector<PotentialFieldInfo> getFieldInfos();
    void clearFields(){fields.clear();}
    void setPGain(const Eigen::VectorXd& gain);
    void setMaxControlOutput(const Eigen::VectorXd& new_max_control_output);
    Eigen::VectorXd getMaxControlOutput(){return max_ctrl_output;}
    Eigen::VectorXd getPGain(){return p_gain;}
    const std::vector<PotentialFieldPtr> &getFields(){return fields;}
    uint getDimension(){return dimension;}
};
 
}
 
#endif