WbcTask.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */
 
#ifndef WBC_WBC_TASK_HPP
#define WBC_WBC_TASK_HPP
 
#include "wbc/WbcTaskBase.hpp"
#include <base/commands/Joints.hpp>
#include <base/samples/RigidBodyState.hpp>
#include <base/samples/Wrenches.hpp>
#include <wbc/core/TaskStatus.hpp>
#include <wbc/tools/JointIntegrator.hpp>
#include <wbcTypes.hpp>
 
namespace wbc {
 
class Scene;
class RobotModel;
class QPSolver;
class TaskInterface;
class HierarchicalQP;
 
typedef std::shared_ptr<Scene> ScenePtr;
typedef std::shared_ptr<RobotModel> RobotModelPtr;
typedef std::shared_ptr<QPSolver> QPSolverPtr;
typedef std::shared_ptr<TaskInterface> TaskInterfacePtr;
typedef std::map<std::string, TaskInterfacePtr> TaskInterfaceMap;

class WbcTask : public WbcTaskBase
{
    friend class WbcBase;
protected:
 
    ScenePtr wbc_scene;
    RobotModelPtr robot_model;
    QPSolverPtr solver;
    JointIntegrator integrator;
 
    HierarchicalQP hierarchical_qp;
    TaskInterfaceMap task_interfaces;                     
    base::commands::Joints solver_output_joints;          
    base::samples::Joints joint_state;                    
    base::samples::Joints full_joint_state;               
    base::Time stamp;                                     
    TasksStatus tasks_status;                             
    base::samples::RigidBodyStateSE3 floating_base_state; 
    base::samples::RigidBodyState floating_base_state_rbs;
    wbc::JointWeights joint_weights;                      
    std::vector<TaskConfig> wbc_config;                   
    bool compute_task_status;                             
    bool integrate;                                       
    TimingStats timing_stats;                             
    ActiveContacts active_contacts;                       
    base::samples::Wrenches contact_wrenches;             
    bool has_floating_base_state;                         
 
public:
    WbcTask(std::string const& name = "wbc::WbcTask");
    WbcTask(std::string const& name, RTT::ExecutionEngine* engine);
    ~WbcTask();
    bool configureHook();
    bool startHook();
    void updateHook();
    void errorHook();
    void stopHook();
    void cleanupHook();
 
    virtual void activateTask(const std::string& task_name, double activation);
    virtual void activateTasks(const std::vector<std::string>& task_names, double activation);
    virtual void deactivateAllTasks();
};
}
 
#endif