TaskConfig.hpp

Go to the documentation of this file.

#ifndef WBC_CORE_TASK_CONFIG_HPP
#define WBC_CORE_TASK_CONFIG_HPP
 
#include <string>
#include <Eigen/Core>
#include <stdexcept>
 
namespace wbc{
 
enum TaskType{
    unset = -1,
    spatial_velocity,
    spatial_acceleration,
    com_velocity,
    com_acceleration,
    joint_velocity,
    joint_acceleration,
    contact_force,
    contact_wrench
};

class TaskConfig {
 
public:
    TaskConfig(){}
    TaskConfig(const std::string &name,
               const int priority,
               const Eigen::VectorXd& weights,
               const double activation);
    ~TaskConfig();

    std::string name;

    int priority;

    Eigen::VectorXd weights;

    double activation;

    bool isValid() const;
};
 
}
 
#endif // WBC_CORE_TASK_CONFIG_HPP