Initial import (based on Leg6DoF9Muscles model)

1 files changed, 17 insertions, 0 deletions

diff --git a/LocomotorPrimitivesController.h b/LocomotorPrimitivesController.h
new file mode 100644
index 0000000..7d0c08a
--- /dev/null
+++ b/LocomotorPrimitivesController.h
@@ -0,0 +1,17 @@
+#ifndef LOCOMOTORPRIMITIVES_CONTROLLER_H_
+#define LOCOMOTORPRIMITIVES_CONTROLLER_H_
+
+#include <OpenSim/OpenSim.h>
+
+class LocomotorPrimitivesController : public OpenSim::Controller {
+OpenSim_DECLARE_CONCRETE_OBJECT(LocomotorPrimitivesController, OpenSim::Controller);
+
+public:
+	LocomotorPrimitivesController(double alpha) : OpenSim::Controller(), _alpha(alpha) { }
+
+	void computeControls(const SimTK::State &s, SimTK::Vector &controls) const;
+private:
+	double _alpha;
+};
+
+#endif /* LOCOMOTORPRIMITIVES_CONTROLLER_H_ */