19 #ifndef SRC_CORE_IMPEDANCECONTROL_H_
20 #define SRC_CORE_IMPEDANCECONTROL_H_
55 double lengthStiffness,
71 double deltaTimeSeconds,
73 double offsetVel = 0);
77 double deltaTimeSeconds,
80 double offsetVel = 0);
164 bool invariant()
const;
167 #endif // SRC_CORE_IMPEDANCECONTROL_H_
double getVelStiffness() const
double getOffsetTension() const
void setLengthStiffness(double lengthStiffness)
ImpedanceControl()
Constructors.
void setVelStiffness(double velStiffness)
double control(tgBaseString *const mString, double deltaTimeSeconds, double newPosition, double offsetVel=0)
Control Functions.
double getLengthStiffness() const
void setOffsetTension(double offsetTension)