ContactForceTask.hpp

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#ifndef WBC_TASKS_CONTACTFORCVETASK_HPP
#define WBC_TASKS_CONTACTFORCVETASK_HPP
 
#include "../core/Task.hpp"
 
namespace wbc{
 
class ContactForceTask : public Task{
protected:
    Eigen::MatrixXd ref_frame_rotation;
    const std::string ref_frame;
public:
    ContactForceTask(TaskConfig config,
                      RobotModelPtr robot_model,
                      const std::string &ref_frame);
    virtual ~ContactForceTask() = default;

    virtual void update() override;

    void setReference(const types::Wrench& ref);

    const std::string& refFrame(){return ref_frame;}
};
 
typedef std::shared_ptr<ContactForceTask> ContactForceTaskPtr;
 
}
 
#endif // CARTESIANWRENCHTASK_HPP