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Program listing for file control/src/Controller/LinearSMC.hpp

Program listing for file control/src/Controller/LinearSMC.hpp#

 1#ifndef LinearSMC_H
 2#define LinearSMC_H
 3
 4#include "CommonSMC.hpp"
 5
 6
 7
 8class LinearSMC : public CommonSMC
 9{
10private:
11
12  ACCEPT_SERIALIZATION(LinearSMC);
13
14
15protected:
16
17  LinearSMC() {};
18
19
20public:
21
22
23  LinearSMC(SP::ControlSensor sensor, unsigned int type = LINEAR_SMC);
24
25
26  LinearSMC(SP::ControlSensor sensor, SP::SimpleMatrix B,
27            SP::SimpleMatrix D = std::shared_ptr<SimpleMatrix>(),
28            unsigned int type = LINEAR_SMC);
29
30
31  virtual ~LinearSMC();
32
33
34  virtual void actuate();
35
36
37  inline void setDPtr(SP::SimpleMatrix D)
38  {
39    _D = D;
40  };
41
42
43};
44#endif