LocomotorPrimitivesController.h


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#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(OpenSim::Storage act, double alpha)
		: OpenSim::Controller(), _act(act), _alpha(alpha)
	{
		_muscle_act = new double[act.getSmallestNumberOfStates()];
	}

	~LocomotorPrimitivesController()
	{
		delete[] _muscle_act;
	}

	void computeControls(const SimTK::State &s, SimTK::Vector &controls) const;
private:
	double _alpha;
	double *_muscle_act;

	OpenSim::Storage _act;
};

#endif /* LOCOMOTORPRIMITIVES_CONTROLLER_H_ */