JointVelocityTask.hpp

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

    virtual void update() override;

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

    const std::vector<std::string>& jointNames(){return joint_names;}
};
 
typedef std::shared_ptr<JointVelocityTask> JointVelocityTaskPtr;
 
} // namespace wbc
 
#endif