---

CartesianControl.h

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//
//       Title           : CartesianControl.h
//       Project         : 
//       Created         : Mon Dec 30 11:09:55 2002
//       Author          : Chalongrath Pholsiri
//       Platforms       : All
//       Copyright       : The University of Texas at Austin
//                         All Rights Reserved.
//       Access          : Company Confidential
//       Purpose         : Abstract class for CartesianControl
//
//----------------------------------------------------------------------------
//
//       Classes:
//               <none>
//
//       Global Functions:
//               <none>
//
//       Global Variables:
//               <none>
//
//----------------------------------------------------------------------------
//
//       $Revisions$
//
//       $Log: CartesianControl.h,v $
//       Revision 1.3  2005/03/14 21:51:01  pmarch
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.2  2004/07/26 22:10:20  chetan
//       Made changes to compile with Warning Level 4 and also under the latest C++ standard
//
//       Revision 1.1  2004/06/01 21:59:35  dinesh
//       Workspace for the Control Systems Domain
//
//

#ifndef CartesianControl_hpp
#define CartesianControl_hpp


#include "ControlSystems/Control.h"
#include "ForwardKinematics/FKAcceleration.h"

namespace OSCAR {

  class CartesianControl : public Control
  {
  public:
          CartesianControl(unsigned int dof, unsigned int noOutputs, 
                                             FKAcceleration* fowkin, IDStandAlone* dyn = NULL);
          virtual ~CartesianControl();

          virtual bool SetJointStates(Vector *q, Vector *qd);
          virtual bool SetCartesianStates(Vector *position, Vector *velocity,
                                                                  Vector *des_pos, Vector *des_vel, 
                                                                  Vector *des_acc);

          ControlInformation    info;

  protected:
          unsigned int noOfOutputs;
          FKAcceleration *fowKin;
          bool  cartesianStatesSet;
          bool  jointStatesSet;
          Vector *pos, *vel;
          Vector *pos_d, *vel_d, *acc_d;
          Vector *q, *qd;
  };

}
#endif //CartesianControl_hpp

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