Complex_Kinematic_Control.h

#ifndef CONTROL_H_INCLUDED
#define CONTROL_H_INCLUDED

#include "Miscellaneous/Interpolation_Algorithm.h"

typedef struct CONTROL_PID
{
    int     DOF;
    int     Links;
    int     NTP;
    int     Articulations;
    double* Time;
    double* Initial_Position;
    double* Initial_Velocity;
    double* Trayectory_Parameters;
}CONTROL_PID;

double  (*Control_Function)              (CONTROL_PID Parameters , double* Opt_Parameter , char* Filename);
double  (*Control_Function_Intpolation)  (CONTROL_PID Parameters , DATA_INTER Inter , double* Opt_Parameter , char* Filename);

void   Kin_Control_Function_Parameters_Set  (CONTROL_PID* Parameter , char* Filename);
void   Kin_Control_Function_Parameters_Free (CONTROL_PID* Parameter);

/*************************************************************************************************************/
/********************************************* Function Control **********************************************/
/*************************************************************************************************************/

double For_Kin_Control (CONTROL_PID Parameters , double* Opt_Parameter , char* Filename);
double Inv_Kin_Control (CONTROL_PID Parameters , double* Opt_Parameter , char* Filename);

/*************************************************************************************************************/
/******************************************* Interpolation Control *******************************************/
/*************************************************************************************************************/

double For_Kin_Control_Intpolation (CONTROL_PID Parameters , DATA_INTER Inter , double* Opt_Parameter , char* Filename);
double Inv_Kin_Control_Intpolation (CONTROL_PID Parameters , DATA_INTER Inter , double* Opt_Parameter , char* Filename);

#endif // CONTROL_H_INCLUDED