#ifndef LOWLEVELCMD_H #define LOWLEVELCMD_H #include "math/mathTypes.h" #include #include struct LowlevelCmd{ private: size_t _dof = 6; public: Vec6 endPosture; std::vector q; std::vector dq; std::vector tau; std::vector kp; std::vector kd; Vec6 posture; LowlevelCmd(); ~LowlevelCmd(){} void setZeroDq(); void setZeroTau(); void setZeroKp(); void setZeroKd(); void setControlGain(); void setControlGain(std::vector KP, std::vector KW); void setQ(std::vector qInput); void setQ(VecX qInput); void setQd(VecX qDInput); void setTau(VecX tauInput); void setPassive(); void setGripperGain(); void setGripperGain(double KP, double KW); void setGripperZeroGain(); void setGripperQ(double qInput); double getGripperQ(); void setGripperQd(double qdInput); double getGripperQd(); void setGripperTau(double tauInput); double getGripperTau(); Vec6 getQ(); Vec6 getQd(); }; #endif //LOWLEVELCMD_H