00001 #ifndef SIGEL_SIMULATION_SIG_ROTATIONALCONTROLLER_H 00002 #define SIGEL_SIMULATION_SIG_ROTATIONALCONTROLLER_H 00003 00004 #include "controller.h" 00005 #include "SIGEL_Simulation/SIG_DynaJoint.h" 00006 00007 namespace SIGEL_Simulation 00008 { 00013 class SIG_RotationalController : public DL_controller { 00015 DL_Scalar minimum; 00017 DL_Scalar maximum; 00019 SIG_DynaJoint * joint; 00020 public: 00022 SIG_RotationalController(); 00024 ~SIG_RotationalController(); 00031 void init(SIG_DynaJoint * theJoint, DL_Scalar theMinimum, DL_Scalar theMaximum); 00033 virtual void calculate_and_apply(); 00034 }; 00035 00036 }; 00037 00038 #endif // SIGEL_SIMULATION_SIG_ROTATIONALCONTROLLER_H