feedback_motion_solver.h

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#ifndef EXOTICA_CORE_FEEDBACK_MOTION_SOLVER_H_
#define EXOTICA_CORE_FEEDBACK_MOTION_SOLVER_H_

#include <exotica_core/motion_solver.h>

namespace exotica
{
class FeedbackMotionSolver : public MotionSolver
{
public:
    // \brief Returns a control input given the state x and timestep t.
    virtual Eigen::VectorXd GetFeedbackControl(Eigen::VectorXdRefConst x, int t) const = 0;
};
}  // namespace exotica

#endif  // EXOTICA_CORE_MOTION_SOLVER_H_