8 #ifndef CONTROLLEDOBJECT_HPP_
9 #define CONTROLLEDOBJECT_HPP_
20 #define CONSTRAINT_ID_ALL ((unsigned int)-1)
39 virtual void lockJoint(
unsigned int q_nr,
unsigned int ndof) = 0;
41 virtual void lockJoint(
unsigned int q_nr,
unsigned int ndof,
double* qdot) = 0;
44 virtual void initialize(
unsigned int _nq,
unsigned int _nc,
unsigned int _nee);
virtual void lockJoint(unsigned int q_nr, unsigned int ndof)=0
virtual ~JointLockCallback()
virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double *qdot)=0
virtual const unsigned int getNrOfCoordinates()
std::vector< e_matrix > m_JqArray
virtual void setWq(const e_matrix &Wq_in)
virtual const e_vector & getControlOutput() const
virtual const e_matrix & getCq() const
virtual void updateControlOutput(const Timestamp ×tamp)=0
virtual const e_matrix & getJq(unsigned int ee) const
virtual const unsigned int getNrOfConstraints()
virtual bool updateJoint(const Timestamp ×tamp, JointLockCallback &callback)=0
virtual ~ControlledObject()
virtual double getMaxTimestep(double ×tep)
virtual bool setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0
virtual void initialize(unsigned int _nq, unsigned int _nc, unsigned int _nee)
virtual const e_vector & getWy() const
virtual e_matrix & getWq()
virtual void setJointVelocity(const e_vector qdot_in)
DEGForeachIDComponentCallback callback