/// <summary>
/// Manager for a virtual elbow prosthetic device based on Unity's Rigidbody.
/// </summary>
/// <param name="sensor">Virtual encoder to be attached to the virtual elbow.</param>
public ElbowManager(ISensor sensor)
{
if (sensor == null)
{
throw new System.ArgumentNullException("The provided sensor object is empty.");
}
float[] gains = { 1000.0f, 80.0f };
controller = new StateFeedbackController(2, gains);
this.sensor = sensor;
}
/// <summary>
/// Manager for a virtual elbow prosthetic device based on Unity's Rigidbody.
/// </summary>
/// <param name="controllerGains">The state feedback controller gains for the elbow.</param>
/// <param name="sensor">Virtual encoder to be attached to the virtual elbow.</param>
public ElbowManager(float[] controllerGains, ISensor sensor)
{
if (sensor == null)
{
throw new System.ArgumentNullException("The provided sensor object is empty.");
}
if (controllerGains.Length != 2)
{
throw new System.ArgumentOutOfRangeException("Two gains are required for a single joint (elbow) controller.");
}
controller = new StateFeedbackController(2, controllerGains);
this.sensor = sensor;
}