00001 00002 // 00003 // Title : Control.h 00004 // Project : 00005 // Created : Mon Dec 23 11:09:55 2002 00006 // Author : Chalongrath Pholsiri 00007 // Platforms : All 00008 // Copyright : The University of Texas at Austin 00009 // All Rights Reserved. 00010 // Access : Company Confidential 00011 // Purpose : Abstract class for Control 00012 // 00013 //---------------------------------------------------------------------------- 00014 // 00015 // Classes: 00016 // <none> 00017 // 00018 // Global Functions: 00019 // <none> 00020 // 00021 // Global Variables: 00022 // <none> 00023 // 00024 //---------------------------------------------------------------------------- 00025 // 00026 // $Revisions$ 00027 // 00028 // $Log: Control.h,v $ 00029 // Revision 1.3 2005/03/14 21:51:01 pmarch 00030 // Added to namespace OSCAR and removed "RR" from front of class names. 00031 // 00032 // Revision 1.2 2004/07/26 22:10:20 chetan 00033 // Made changes to compile with Warning Level 4 and also under the latest C++ standard 00034 // 00035 // Revision 1.1 2004/06/01 21:59:35 dinesh 00036 // Workspace for the Control Systems Domain 00037 // 00038 // 00040 00041 #ifndef Control_h 00042 #define Control_h 00043 00044 #include "Math/VectorArray.h" 00045 #include "Dynamics/IDStandAlone.h" 00046 #include "ControlInformation.h" 00047 00049 namespace OSCAR { 00050 00051 class Control : public virtual Base 00052 { 00053 public: 00054 Control(unsigned int dof, IDStandAlone* dyn = NULL); 00055 virtual ~Control(); 00056 00057 virtual bool SetGains(const VectorArray& gains) = 0; 00058 virtual bool GetControlTorques(Vector& torques) = 0; 00059 00060 protected: 00061 IDStandAlone *dynamics; 00062 unsigned int DOF; 00063 }; 00064 00065 } 00066 #endif // Control_hpp
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