gavoidcontroller.h

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#ifndef GCOP_GAVOIDCONTROLLER_H
#define GCOP_GAVOIDCONTROLLER_H

#include "controller.h"
#include "body3dmanifold.h"
#include "constraint.h"

namespace gcop {

using namespace std;
using namespace Eigen;

 typedef Constraint<Body3dState, 12, 6, Dynamic, 1> Body3dConstraint;
 typedef Matrix<double, 6, 1> Vector6d;

class GavoidController : public Controller<Body3dState, Vector6d> {
 public:
  
  GavoidController(Body3dConstraint &con);
  
  virtual ~GavoidController();
  
  virtual bool Set(Vector6d &u, double t, const Body3dState &x);
  
  Body3dConstraint &con; 
  
  double sr; 
  double k;  
  double kb; 

  double oc;     
  double odExp;  
 };
  
}

#endif