imitate.hpp

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#ifndef QTCTRL_IMITATE_CTRL
#define QTCTRL_IMITATE_CTRL

#include <ctrl/track.hpp>

class ImitateCtrl : public TrackingCtrl {
public:
  ImitateCtrl(const MotionModel& model, const double& ts,
              const char* input_file_name,
              const iSeeML::rob::OrPtConfig& init_config)
    : TrackingCtrl(model, ts, input_file_name, init_config) {}
  
  virtual ~ImitateCtrl() {}
  
  // Cf Controller::choose_velocities(double&, double&, ...)
  virtual void chooseVelocities(double& trans_vel, double& rot_vel,
                                std::ostream& log_str);
  
}; // end of class ImitateCtrl

#endif // QTCTRL_IMITATE_CTRL