controllers.hpp

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#ifndef WBC_PY_CONTROLLERS_HPP
#define WBC_PY_CONTROLLERS_HPP
 
#include "../eigen_conversion.h"
#include "../base_types_conversion.h"
#include "../std_vector_conversion.h"
#include <wbc/controllers/CartesianPosPDController.hpp>
#include <wbc/controllers/JointPosPDController.hpp>
 
namespace wbc_py {
 
class JointPosPDController : public wbc::JointPosPDController{
public:
    JointPosPDController(const std::vector<std::string> &joint_names);
    base::NamedVector<base::JointState> update(const base::NamedVector<base::JointState> &setpoint,
                                               const base::NamedVector<base::JointState> &feedback);
};
}
 
#endif