SpatialVelocityTask.hpp

Go to the documentation of this file.

#ifndef WBC_TASKS_SPATIALVELOCITYTASK_HPP
#define WBC_TASKS_SPATIALVELOCITYTASK_HPP
 
#include "../core/Task.hpp"
 
namespace wbc{

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

    virtual void update() override;

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

    const std::string &tipFrame(){return tip_frame;}

    const std::string& refFrame(){return ref_frame;}
};
 
typedef std::shared_ptr<SpatialVelocityTask> SpatialVelocityTaskPtr;
 
} // namespace wbc
 
#endif