OpenLoopMWController.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file OpenLoopMWController.h
 *  \brief The OpenLoopMWController class provides open loop control for parameter estimation.
 *         It is derived from the Contorller class.
 *  \author $Author: cakinli $
 *  \version $Revision: 1.4 $
 *  \date    $Date: 2005/02/25 18:40:53 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////


#ifndef __SSSL_OPENLOOPMWCONTROLLER_H__
#define __SSSL_OPENLOOPMWCONTROLLER_H__

#include <Controller/Controller.h>
#include <fstream>

using namespace std;
using namespace O_SESSAME;

class OpenLoopMWController : public Controller {
        
        public:
                /** Constructors */
                OpenLoopMWController() {};
                OpenLoopMWController(Whorl* ptr_whorl) {
                        m_whorl = ptr_whorl;
                        int retcode = Initialize();
                        retcode = 0;
                };
        
                /** Destructor */
                ~OpenLoopMWController() {
                        m_fileID.close();
                };
                
                /*! Runs the default controller */
                int Run();
                        
                /*! Initializes the default controller */
                int Initialize();
                        
                /*! Load the datafile. */
                ifstream LoadDataFile(char *filename);

        private:
                
                Vector m_controlTorque;
                ifstream m_fileID;
                
};

#endif
                        
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: OpenLoopMWController.h,v $
*       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  2003/12/12 21:23:27  simpliciter
*       Working version update before modifications!
*       
*       Revision 1.2  2003/11/04 23:42:22  simpliciter
*       Changed for wheel speed commands instead of wheel torques.
*       
*       Revision 1.1  2003/10/31 21:24:57  simpliciter
*       Initial submission.
*       
*       
*       
*
******************************************************************************/

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