us.ihmc.scs2.definition.controller.interfaces.ControllerOutputReadOnly Maven / Gradle / Ivy
package us.ihmc.scs2.definition.controller.interfaces;
import us.ihmc.mecano.multiBodySystem.interfaces.JointReadOnly;
import us.ihmc.mecano.multiBodySystem.interfaces.MultiBodySystemReadOnly;
import us.ihmc.scs2.definition.state.interfaces.JointStateReadOnly;
public interface ControllerOutputReadOnly
{
MultiBodySystemReadOnly getInput();
default JointStateReadOnly getJointOutput(JointReadOnly joint)
{
return getJointOutput(joint.getName());
}
JointStateReadOnly getJointOutput(String jointName);
JointStateReadOnly[] getJointOuputs();
}