#pragma once
#ifndef __AdmittanceBasic_H__
#define __AdmittanceBasic_H__

#include <Eigen/Core>
#include <Eigen/Dense>
#include <sophus/se3.hpp>

#include "CommonTypes.h"

#include "logger/RusLog.h"

using namespace std;
using namespace Eigen;
using namespace Sophus;

class AdmittanceBasic
{
public:
    virtual void Init() {}

    virtual void LoadData(WayPoint curWayPt, FTData curForce, WayPoint refWayPt) {};

    virtual void GetActualTarget(WayPoint& wayPoint) {}

    virtual void RefreshAdmittancePara() {}

    //¿ØÖÆÖÜÆÚ
    double Ts = 1e-3;

private:
};

#endif
#pragma once