How can I use the controller with CPP?

jrl-umi3218 / lipm_walking_controller

Walking controller based on linear inverted pendulum tracking

BSD 2-Clause "Simplified" License

18 stars 11 forks source link

How can I use the controller with CPP? #19

Closed kurt closed 4 years ago

kurt commented 4 years ago

I am trying to just create a controller with CONTROLLER_CONSTRUCTOR("LIPMWalking", lipm_walking::Controller) but after this how can I call the methods of the controller to run the stabilizer?

kurt commented 4 years ago

mc_control::MCGlobalController controller(conf) where conf is the appropriate configuration file with LIPMWalking enabled....