mbscontroller.h

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#ifndef GCOP_MBSCONTROLLER_H
#define GCOP_MBSCONTROLLER_H

#include "controller.h"
#include "mbs.h"

namespace gcop {

  using namespace std;
  using namespace Eigen;

  class MbsController : public Controller< MbsState, VectorXd> {
  public:

    MbsController(const Mbs &sys,
                  MbsState *xd = 0, 
                  VectorXd *ad = 0);

    virtual bool Set(VectorXd &u, double t, const MbsState &x);

    virtual ~MbsController();

    const Mbs &sys; 

    MbsState *xd;   
    VectorXd *ad;   

    VectorXd Kp;    
    VectorXd Kd;    
    
  };
};

#endif