/* Siconos is a program dedicated to modeling, simulation and control
 * of non smooth dynamical systems.
 *
 * Copyright 2021 INRIA.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
*/

#include <AVI.hpp>
#include <NormalConeNSL.hpp>
#include <SiconosVector.hpp>
#include <SimpleMatrix.hpp>

#include "ActuatorFactory.hpp"
#include "RegularTwisting.hpp"


RegularTwisting::RegularTwisting(SP::ControlSensor sensor, double gain, double beta):
  Twisting(sensor, gain, beta, 0.)
{
  _type = REGULAR_TWISTING;
}

RegularTwisting::RegularTwisting(SP::ControlSensor sensor):
  Twisting(sensor, 0.)
{
  _type = REGULAR_TWISTING;
}

RegularTwisting::~RegularTwisting()
{
}
AUTO_REGISTER_ACTUATOR(REGULAR_TWISTING, RegularTwisting)
