AMJointControl.h

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#ifndef _AMJOINTCONTROL_H_
#define _AMJOINTCONTROL_H_

#include "ActionModel.h"

namespace Rcs
{

/**
 * Base class for all action models controlling the unconstrained joints of the graph directly (no IK).
 */
class AMJointControl : public ActionModel
{
public:
    /**
     * Constructor
     * @param graph graph being commanded
     */
    explicit AMJointControl(RcsGraph* graph);
    
    virtual ~AMJointControl();
    
    /**
     * Returns graph->nJ since we control all unconstrained joints.
     */
    virtual unsigned int getDim() const;
};
    
} /* namespace Rcs */

#endif /* _AMJOINTCONTROL_H_ */