JointLimitAvoidance.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */
 
#ifndef CTRL_LIB_JOINTLIMITAVOIDANCE_TASK_HPP
#define CTRL_LIB_JOINTLIMITAVOIDANCE_TASK_HPP
 
#include "ctrl_lib/JointLimitAvoidanceBase.hpp"
#include <base/commands/Joints.hpp>
#include <wbc/controllers/JointLimitAvoidanceController.hpp>
 
namespace ctrl_lib{
 
class JointLimitAvoidanceController;
 
class JointLimitAvoidance : public JointLimitAvoidanceBase
{
    friend class JointLimitAvoidanceBase;
 
public:
    JointLimitAvoidance(std::string const& name = "ctrl_lib::JointLimitAvoidance");
    JointLimitAvoidance(std::string const& name, RTT::ExecutionEngine* engine);
    ~JointLimitAvoidance(){}
    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);
 
    base::JointLimits joint_limits;
    base::samples::Joints feedback;
    base::VectorXd position_raw;
    base::commands::Joints control_output;
    base::VectorXd influence_distance;
    wbc::JointLimitAvoidanceController* controller;
};
}
 
#endif