SpatialAccelerationTask.hpp

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

class SpatialAccelerationTask : public Task{
protected:
    Eigen::MatrixXd rot_mat;
    std::string tip_frame;
    bool use_spatial_acc_bias;
    
public:
    SpatialAccelerationTask(TaskConfig config,
                              RobotModelPtr robot_model,
                              const std::string &tip_frame,
                              bool use_spatial_acc_bias = true);
    virtual ~SpatialAccelerationTask() = default;

    virtual void update() override;

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

    const std::string &tipFrame(){return tip_frame;}
};
 
using SpatialAccelerationTaskPtr = std::shared_ptr<SpatialAccelerationTask>;
 
} // namespace wbc
 
#endif