CControllerBase.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
*/
/*
 * \file CControllerBase.hpp
 *
 *  Created on: Jul 21, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CCONTROLLERBASE_HPP_
#define CCONTROLLERBASE_HPP_

#include <scl/DataTypes.hpp>

#include <scl/data_structs/SRobotParsed.hpp>
#include <scl/data_structs/SRobotIO.hpp>

#include <scl/control/data_structs/SControllerBase.hpp>

#include <scl/dynamics/CDynamicsBase.hpp>

#include <Eigen/Dense>

namespace scl
{
  class CControllerBase
  {
  public:
    CControllerBase() : has_been_init_(false), dynamics_(S_NULL){}

    virtual ~CControllerBase(){}

    virtual sBool computeControlForces()=0;

    virtual sBool computeDynamics()=0;

    virtual sBool computeNonControlOperations()=0;

    virtual sBool init(SControllerBase* arg_data,
        scl::CDynamicsBase* arg_dynamics)=0;

    virtual sBool reset()=0;

    virtual sBool hasBeenInit() { return has_been_init_;  }

  protected:
    sBool has_been_init_;
    CDynamicsBase* dynamics_;
  };

}

#endif /* CCONTROLLERBASE_HPP_ */