CoMAccelerationTask.hpp

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#ifndef WBC_TASKS_COMACCELERATIONTASK_HPP
#define WBC_TASKS_COMACCELERATIONTASK_HPP
 
#include "../core/Task.hpp"
#include "../types/SpatialAcceleration.hpp"
 
namespace wbc{

class CoMAccelerationTask : public Task{
public:
    CoMAccelerationTask(TaskConfig config,
                        RobotModelPtr robot_model);
    virtual ~CoMAccelerationTask() = default;
 
    virtual void update() override;

    void setReference(const Eigen::Vector3d& ref);
};
 
typedef std::shared_ptr<CoMAccelerationTask> CoMAccelerationTaskPtr;
 
} // namespace wbc
 
#endif // WBC_TASKS_COM_ACCELERATION_TASK_HPP