SingleAxisController.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file SingleAxisController.h
 *  \brief The SingleAxisController class contains the actual equations for angular velocity single
 *         axis control. It is derived from the Contorller class.
 *  \author $Author: cakinli $
 *  \version $Revision: 1.3 $
 *  \date    $Date: 2005/02/25 18:40:53 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////


#ifndef __SSSL_SINGLEAXISCONTROLLER_H__
#define __SSSL_SINGLEAXISCONTROLLER_H__

#include <Controller/Controller.h>

using namespace std;
using namespace O_SESSAME;

class SingleAxisController : public Controller
{
        public:
                /** Constructors */
                SingleAxisController() {};
                SingleAxisController(Whorl* _pateraSilk) { PateraSilk = _pateraSilk; };
                SingleAxisController(cfgBody& configBody) {};
        
                /** Destructor */
                virtual ~SingleAxisController() {};
                
                /*! Runs the default controller */
                int Run();
                        
                /*! Initializes the default controller */
                int Initialize();
                        
        protected:
                        
                Matrix m_gainMatrix;
                Vector m_controlTorque;
                Whorl *PateraSilk;

};

#endif
                        
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: SingleAxisController.h,v $
*       Revision 1.3  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 1.2  2003/08/06 21:47:39  mavandyk
*       Updated comments and notation and fixed class structure.
*       
*       Revision 1.1  2003/07/31 20:55:19  mavandyk
*       A single axis attitude controller.
*       
*       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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