22 #ifndef OPENRAVE_CONTROLLER_H
23 #define OPENRAVE_CONTROLLER_H
48 virtual bool Init(
RobotBasePtr robot,
const std::vector<int>& dofindices,
int nControlTransformation) = 0;
51 virtual const std::vector<int>& GetControlDOFIndices()
const = 0;
56 virtual int IsControlTransformation()
const = 0;
62 virtual void Reset(
int options=0) = 0;
77 virtual void SimulationStep(
dReal fTimeElapsed) = 0;
85 virtual bool IsDone() = 0;
88 virtual dReal GetTime() const OPENRAVE_DUMMY_IMPLEMENTATION;
93 virtual
void GetVelocity(std::vector<
dReal>& vel) const OPENRAVE_DUMMY_IMPLEMENTATION;
98 virtual
void GetTorque(std::vector<
dReal>& torque) const OPENRAVE_DUMMY_IMPLEMENTATION;
112 virtual const
char* GetHash()
const {
128 virtual bool Init(
RobotBasePtr robot,
const std::vector<int>& dofindices,
int nControlTransformation);
129 virtual const std::vector<int>& GetControlDOFIndices()
const;
130 virtual int IsControlTransformation()
const;
146 virtual void Reset(
int options=0);
149 virtual void SimulationStep(
dReal fTimeElapsed);
152 virtual bool IsDone();
155 virtual dReal GetTime()
const;
157 virtual void GetVelocity(std::vector<dReal>& vel)
const;
162 virtual void GetTorque(std::vector<dReal>& torque)
const;