ISSQuanserQube.h

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#ifndef _ISSQUANSERQUBE_H_
#define _ISSQUANSERQUBE_H_

#include "InitStateSetter.h"

namespace Rcs
{

class ISSQuanserQube : public InitStateSetter
{
public:
    ISSQuanserQube(RcsGraph* graph);
    
    virtual ~ISSQuanserQube();
    
    unsigned int getDim() const override;
    
    virtual std::vector<std::string> getNames() const;
    
    void getMinMax(double* min, double* max) const override;
    
    void applyInitialState(const MatNd* initialState) override;

private:
    RcsBody* arm; // actuated pole
    RcsBody* pendulum; // swinging pole
};

} /* namespace Rcs */

#endif /* _ISSQUANSERQUBE_H_ */