grf_pid_controller.h

#ifndef GRF_PID_CONTROLLER
#define GRF_PID_CONTROLLER
 
#include <robot_driver/controllers/leg_controller.h>
 
 
class GrfPidController : public LegController {
 public:
  GrfPidController();
 
  bool computeLegCommandArray(const quad_msgs::RobotState &robot_state_msg,
                              quad_msgs::LegCommandArray &leg_command_array_msg,
                              quad_msgs::GRFArray &grf_array_msg);
 
 private:
  Eigen::Vector3d pos_des_;
 
  Eigen::Vector3d ang_des_;
 
  Eigen::Vector3d pos_error_int_;
 
  Eigen::Vector3d ang_error_int_;
 
  ros::Time t_old_;
};
 
#endif  // GRF_PID_CONTROLLER