JointAccelerationTask.hpp

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#ifndef WBC_TASKS_JOINTACCELERATIONTASK_HPP
#define WBC_TASKS_JOINTACCELERATIONTASK_HPP
 
#include "../core/Task.hpp"
 
namespace wbc{
class JointAccelerationTask : public Task{
    std::vector<std::string> joint_names;
public:
    JointAccelerationTask(TaskConfig config,
                          RobotModelPtr robot_model,
                          const std::vector<std::string>& joint_names);
    virtual ~JointAccelerationTask() = default;

    virtual void update() override;
 

    void setReference(const Eigen::VectorXd& ref);

    const std::vector<std::string>& jointNames(){return joint_names;}
};
 
using JointAccelerationTaskPtr = std::shared_ptr<JointAccelerationTask>;
 
 
} // namespace wbc
 
#endif