CartesianRadialPotentialFields.hpp

Go to the documentation of this file.

/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */
 
#ifndef CTRL_LIB_CARTESIANRADIALPOTENTIALFIELDS_TASK_HPP
#define CTRL_LIB_CARTESIANRADIALPOTENTIALFIELDS_TASK_HPP
 
#include "ctrl_lib/CartesianRadialPotentialFieldsBase.hpp"
#include <base/samples/RigidBodyStateSE3.hpp>
#include <wbc/controllers/PotentialFieldsController.hpp>
 
namespace ctrl_lib {
 
class PotentialFieldsController;
 
class CartesianRadialPotentialFields : public CartesianRadialPotentialFieldsBase
{
    friend class CartesianRadialPotentialFieldsBase;
 
public:
    CartesianRadialPotentialFields(std::string const& name = "ctrl_lib::CartesianRadialPotentialFields");
    CartesianRadialPotentialFields(std::string const& name, RTT::ExecutionEngine* engine);
    ~CartesianRadialPotentialFields(){}
    bool configureHook();
    bool startHook();
    void updateHook();
    void errorHook();
    void stopHook();
    void cleanupHook();
 
protected:
    virtual bool readFeedback();
    virtual bool readSetpoint();
    virtual void updateController();
    virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function);
 
    double influence_distance;
    base::samples::RigidBodyStateSE3 control_output, feedback;
    std::vector<base::samples::RigidBodyState> pot_field_centers;
    wbc::PotentialFieldsController* controller;
    std::vector<wbc::PotentialFieldInfo> field_infos;
};
}
 
#endif