Project_WIPV_antiSlip / STATE_FEEDBACK

The generic full-state feedback control libery

Fork of STATE_FEEDBACK by Project_WIPV_antiSlip

Diff: STATE_FEEDBACK.cpp

Revision:
4:958c25c1b151
Parent:
3:7ff53317e0a4
--- a/STATE_FEEDBACK.cpp	Tue Jan 03 15:00:01 2017 +0000
+++ b/STATE_FEEDBACK.cpp	Wed Jan 04 10:09:44 2017 +0000
@@ -109,7 +109,11 @@
         }
     }
 }
-void STATE_FEEDBACK::fullStateFeedBack_calc(){
+void STATE_FEEDBACK::fullStateFeedBack_calc(bool enable){
+    if (!enable){
+        sys_inputs = zeros_p;
+        return;
+    }
     // sys_inputs = Get_VectorScalarMultiply(Mat_multiply_Vec(K_full, states),-1.0);
     //
     // With command input