#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_ */