point3dcontroller.h

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#ifndef GCOP_POINT3DCONTROLLER_H
#define GCOP_POINT3DCONTROLLER_H

#include "controller.h"
#include "point3d.h"

namespace gcop {

  using namespace std;
  using namespace Eigen;

  class Point3dController : public Controller< Point3dState, Vector3d> {
  public:

    Point3dController(const Point3d &sys,
                      Point3dState *xd = 0, 
                      Vector3d *ad = 0);
    
    virtual bool Set(Vector3d &u, double t, const Point3dState &x);

    virtual ~Point3dController();

    const Point3d &sys; 

    Point3dState *xd;   
    Vector3d *ad;       

    Vector3d Kp;    
    Vector3d Kd;    
  };
};

#endif