1 #ifndef JOINT_TRACKING_CONTROLLER_H 2 #define JOINT_TRACKING_CONTROLLER_H 4 #include "Controller.h" 14 virtual const char* Type()
const {
return "JointTrackingController"; }
15 virtual void Update(Real dt);
17 virtual bool ReadState(File& f) {
18 if(!RobotController::ReadState(f))
return false;
19 if(!qdesDefault.Read(f))
return false;
22 virtual bool WriteState(File& f)
const {
23 if(!RobotController::WriteState(f))
return false;
24 if(!qdesDefault.Write(f))
return false;
29 virtual vector<string> Commands()
const;
30 virtual bool SendCommand(
const string& name,
const string& str);
The main robot type used in RobotSim.
Definition: Robot.h:79
virtual void GetDesiredState(Config &q_des, Vector &dq_des)
subclasses should override this
A base class for a robot controller. The base class does nothing.
Definition: Controller.h:27
A controller base class that reads out a desired servo position and velocity using the method GetDesi...
Definition: JointTrackingController.h:9