TaskConfig.hpp

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#ifndef TASK_CONFIG_HPP
#define TASK_CONFIG_HPP
 
#include <string>
#include <vector>
#include <stdexcept>
 
namespace wbc{
 
enum TaskType{unset = -1,
                jnt = 0,
                cart = 1,
                com = 2};
 
class TaskConfig {
 
public:
    TaskConfig();
    TaskConfig(const std::string &name,
                     const int priority,
                     const std::string root,
                     const std::string tip,
                     const std::string ref_frame,
                     const double activation = 0,
                     const std::vector<double> weights = {1,1,1,1,1,1},
                     const double timeout = 0);
    TaskConfig(const std::string &name,
                     const int priority,
                     const std::vector<std::string> joint_names,
                     const std::vector<double> weights,
                     const double activation = 0,
                     const double timeout = 0);
    TaskConfig(const std::string &name,
                     const int priority,
                     const std::vector<double> weights = {1,1,1},
                     const double activation = 0,
                     const double timeout = 0);
    ~TaskConfig();
 
    std::string name;
 
    TaskType type;
 
    int priority;
 
    std::vector<double> weights;
 
    double activation;
 
    double timeout;
 
    std::vector<std::string> joint_names;
 
    std::string root;
 
    std::string tip;
 
    std::string ref_frame;
 
    void validate() const;
 
    unsigned int nVariables() const;
};
 
}
 
#endif