CartesianVelocityTask.hpp

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#ifndef CARTESIANVELOCITYTASK_HPP
#define CARTESIANVELOCITYTASK_HPP
 
#include "CartesianTask.hpp"
 
namespace wbc{
 
class CartesianVelocityTask : public CartesianTask{
public:
    CartesianVelocityTask(TaskConfig config, uint n_robot_joints);
    virtual ~CartesianVelocityTask() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
    virtual void setReference(const base::samples::RigidBodyStateSE3& ref);
};
 
typedef std::shared_ptr<CartesianVelocityTask> CartesianVelocityTaskPtr;
 
} // namespace wbc
 
#endif