DefaultController.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file DefaultController.h
 *  \brief The DefaultController class contains the actual equations for angular velocity control.
 *         It is derived from the Contorller class.
 *  \author $Author: jayhawk_hokie $
 *  \version $Revision: 1.8 $
 *  \date    $Date: 2007/09/05 13:27:20 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////


#ifndef __SSSL_DEFAULTCONTROLLER_H__
#define __SSSL_DEFAULTCONTROLLER_H__

#include "Controller.h"

using namespace std;
using namespace O_SESSAME;

class DefaultController : public Controller 
{
        public:
                /*! \brief Constructor */
                DefaultController( );

                /*! \brief Constructor 
                 *  @param ptr_whorl is a pointer to the whorl object.
                 */
                DefaultController( Whorl* ptr_whorl );
        
                /*! \brief Destructor */
                virtual ~DefaultController();
                
                /*! \brief Initializes the default controller */
                int Initialize( );
                
                /*! \brief Runs the default controller, which is a Lyapunov based control law
                 *         that drives the angular rates to zero.
                 */
                int Run( );
                        
        protected:

                /*! \brief Member value in Default Controller Class that is the gain. */
                double m_K;

                /*! \brief Member value in Default Controller Class that is the Gain Matrix for 
                 *      the control law. */     
                Matrix m_gainMatrix;

                /*! \brief Member value in Default Controll Class that is the control torque vector 
                 *      determined from control law. */
                Vector m_controlTorque;

};

#endif
                        
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: DefaultController.h,v $
*       Revision 1.8  2007/09/05 13:27:20  jayhawk_hokie
*       *** empty log message ***
*       
*       Revision 1.7  2007/07/24 09:36:44  jayhawk_hokie
*       Updated.
*       
*       Revision 1.6  2007/04/09 14:03:06  jayhawk_hokie
*       Modified controller.
*       
*       Revision 1.5  2007/02/22 20:10:33  jayhawk_hokie
*       Update Constructor and Destructor.
*       
*       Revision 1.4  2005/02/25 18:40:53  cakinli
*       Created Makefiles and organized include directives to reduce the number of
*       include paths.  Reorganized libraries so that there is now one per source
*       directory.  Each directory is self-contained in terms of its Makefile.
*       The local Makefile in each directory includes src/config.mk, which has all
*       the definitions and general and pattern rules.  So at most, to see what
*       goes into building a target, a person needs to examine the Makefile in
*       that directory, and ../config.mk.
*       
*       Revision 1.3  2003/08/13 23:17:32  mavandyk
*       Altered structure as outline in meeting.
*       
*       Revision 1.2  2003/07/31 20:42:38  mavandyk
*       Fixed some minor problems.
*       
*       Revision 1.1  2003/07/31 20:27:17  mavandyk
*       This is the default controller for Whorl.
*       
*       Revision 1.3  2003/07/07 14:10:52  simpliciter
*       Added log blocks.
*       
*       
*
******************************************************************************/

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