DogControllerMACE.h
#pragma once
#include "sim/DogController.h"
#include "sim/BaseControllerMACE.h"
class cDogControllerMACE : public virtual cDogController, public virtual cBaseControllerMACE
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
cDogControllerMACE();
virtual ~cDogControllerMACE();
virtual void Reset();
protected:
virtual bool IsCurrActionCyclic() const;
virtual void UpdateAction();
virtual void BuildBaseAction(int action_id, tAction& out_action) const;
virtual void ProcessCommand(tAction& out_action);
virtual int AssignFragID(int a_id) const;
virtual void BuildActorBias(int a_id, Eigen::VectorXd& out_bias) const;
};