JointAccelerationTask.hpp

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#ifndef JOINTACCELERATIONTASK_HPP
#define JOINTACCELERATIONTASK_HPP
 
#include "JointTask.hpp"
 
namespace wbc{
class JointAccelerationTask : public JointTask{
public:
    JointAccelerationTask(TaskConfig config, uint n_robot_joints);
    virtual ~JointAccelerationTask() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
 
    virtual void setReference(const base::commands::Joints& ref);
};
 
using JointAccelerationTaskPtr = std::shared_ptr<JointAccelerationTask>;
 
 
} // namespace wbc
 
#endif