AMJointControl.cpp

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 Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
 Technical University of Darmstadt.
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#include "AMJointControl.h"

#include <Rcs_typedef.h>

namespace Rcs
{

AMJointControl::AMJointControl(RcsGraph* graph) : ActionModel(graph)
{
    // nothing to do here
}

AMJointControl::~AMJointControl()
{
    // nothing to destroy
}

unsigned int AMJointControl::getDim() const
{
    // all unconstrained joints
    return graph->nJ;
}

} /* namespace Rcs */