Joint.h

Go to the documentation of this file.

#ifndef JOINT_H_INCLUDED
#define JOINT_H_INCLUDED
#include <iostream>
class Joint {
   protected:
    const int id;
    double q;
    double qd;
    const double qMin, qMax;

   public:
    Joint(int jointID, double jointMin, double jointMax);

    Joint(int jointID, double jointMin, double jointMax, double q0);

    ~Joint();

    int getId();

    double getQ();
    double getQd();
    void getStatus();
    virtual bool updateValue() = 0;
    virtual bool initNetwork() = 0;
};

#endif