include/LWRJointTorqueController.h

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#ifndef __LWRJointTorqueController__
#define __LWRJointTorqueController__


#include <FastResearchInterface.h>
#include <LWRBaseControllerInterface.h>


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class LWRJointTorqueController : public LWRBaseControllerInterface
{


public:


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    LWRJointTorqueController(const char *InitFileName):LWRBaseControllerInterface(InitFileName)
    {
    }


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    ~LWRJointTorqueController(void)
    {
    }


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    inline int StartRobot(const float &TimeOutValueInSeconds    =   120.0)
    {
        this->printf("Please start up the robot now by using KUKA Control Panel.\n");

        // start the controller and switch to command mode
        return(this->FRI->StartRobot(       FastResearchInterface::JOINT_TORQUE_CONTROL
                                        ,   TimeOutValueInSeconds));
    }


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    inline void SetCommandedJointTorques(const float *CommandedJointTorques)
    {
        return(this->FRI->SetCommandedJointTorques(CommandedJointTorques));
    }

};  // class LWRJointTorqueController

#endif