active_torque_control.h

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// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include "active_control.h"
 
namespace franka {
 
class ActiveTorqueControl : public ActiveControl {
 public:
  ~ActiveTorqueControl() override = default;
 
  void writeOnce(const Torques& control_input) override;
 
  friend class Robot;
 
 private:
  ActiveTorqueControl(std::shared_ptr<Robot::Impl> robot_impl,
                      uint32_t motion_id,
                      std::unique_lock<std::mutex> control_lock)
      : ActiveControl(std::move(robot_impl), motion_id, std::move(control_lock)) {};
};
 
}  // namespace franka