CartesianAccelerationTask.hpp

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#ifndef CARTESIANACCELERATION_TASK_HPP
#define CARTESIANACCELERATION_TASK_HPP
 
#include "CartesianTask.hpp"
#include <base/Acceleration.hpp>
 
namespace wbc{
 
base::Vector6d operator+(base::Vector6d a, base::Acceleration b);
base::Vector6d operator-(base::Vector6d a, base::Acceleration b);

class CartesianAccelerationTask : public CartesianTask{
public:
    CartesianAccelerationTask(TaskConfig config, uint n_robot_joints);
    virtual ~CartesianAccelerationTask() = default;

    virtual void update(RobotModelPtr robot_model) override;

    virtual void setReference(const base::samples::RigidBodyStateSE3& ref);
};
 
using CartesianAccelerationTaskPtr = std::shared_ptr<CartesianAccelerationTask>;
 
} // namespace wbc
 
#endif