tgBasicController.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef TG_BASIC_CONTROLLER_H
#define TG_BASIC_CONTROLLER_H

// Forward declarations
class tgControllable;

class tgBasicController
{
public:

    tgBasicController(tgControllable* controllable, double setPoint = 0.0);

    virtual ~tgBasicController();
                
                virtual void control(double dt);
                
                virtual void control(double dt, double setPoint, double sensorData = 0);
                
                virtual void setNewSetPoint(double newSetPoint);
                
                const tgControllable* const getControllable() const
                {
                                return m_controllable;
                }
                
protected:
                
                double m_setPoint;
                
                tgControllable* m_controllable;
                
};

#endif  // TG_BASIC_CONTROLLER_H