CartesianTask.hpp

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#ifndef CARTESIANTASK_HPP
#define CARTESIANTASK_HPP
 
#include "../core/Task.hpp"
 
namespace base{ namespace samples { class RigidBodyStateSE3; } }
 
namespace wbc {
 
class CartesianTask : public Task{
public:
    CartesianTask(const TaskConfig& _config, uint n_robot_joints);
    virtual ~CartesianTask();
 
    virtual void setReference(const base::samples::RigidBodyStateSE3& ref) = 0;
};
 
} //namespace wbc
 
#endif