CControllerGc.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 CControllerGc.hpp
 *
 *  Created on: Dec 29, 2010
 *
 *  Copyright (C) 2010
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CCONTROLLERGC_HPP_
#define CCONTROLLERGC_HPP_

#include <scl/DataTypes.hpp>

#include <scl/control/CControllerBase.hpp>

#include <scl/control/gc/data_structs/SControllerGc.hpp>

namespace scl
{
  class CControllerGc : public scl::CControllerBase
  {
  public:
    /* ******************************************************************
     *                        CControllerBase API
     * ****************************************************************** */
    CControllerGc();

    virtual ~CControllerGc();

    virtual sBool computeControlForces();

    virtual sBool computeKinematics(){  return true;  }

    virtual sBool computeDynamics();

    virtual sBool computeNonControlOperations()
    { return true;  }

    virtual const Eigen::VectorXd* getControlForces();

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

    virtual sBool reset();

    virtual sBool hasBeenInit() { return has_been_init_;  }

    /* ******************************************************************
     *                   Additional control functions
     * ****************************************************************** */
    sBool computeControlForcesPD();

    sBool computeControlForcesPIDA(const sFloat arg_time);

    sBool computeFloatForces();

  protected:

    SControllerGc* data_;
  };

}

#endif /* CCONTROLLERGC_HPP_ */