joint_controller.h

#ifndef JOINT_CONTROLLER_H
#define JOINT_CONTROLLER_H
 
#include <geometry_msgs/Vector3.h>
#include <robot_driver/controllers/leg_controller.h>
 
 
class JointController : public LegController {
 public:
  JointController();
 
  void updateSingleJointCommand(const geometry_msgs::Vector3::ConstPtr &msg);
 
  bool computeLegCommandArray(const quad_msgs::RobotState &robot_state_msg,
                              quad_msgs::LegCommandArray &leg_command_array_msg,
                              quad_msgs::GRFArray &grf_array_msg);
 
 private:
  int leg_idx_ = 0;
 
  int joint_idx_ = 0;
 
  double joint_torque_ = 0.0;
};
 
#endif  // JOINT_CONTROLLER_H