Task.hpp

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#ifndef TASK_HPP
#define TASK_HPP
 
#include "TaskConfig.hpp"
#include "RobotModel.hpp"
#include <base/Eigen.hpp>
#include <base/Time.hpp>
#include <base/NamedVector.hpp>
#include <memory>
 
namespace wbc{
 
class Task {
public:
 
    Task();
 
    Task(const TaskConfig& _config, uint n_robot_joints);
    ~Task();
 
    void reset();
 
    virtual void update(RobotModelPtr robot_model) = 0;
 
    void checkTimeout();
 
    void setWeights(const base::VectorXd& weights);
 
    void setActivation(const double activation);
 
    base::Time time;
 
    TaskConfig config;
 
    base::VectorXd y_ref;
 
    base::VectorXd y_ref_root;
 
    base::VectorXd weights;
 
    base::VectorXd weights_root;
 
    double activation;
 
    int timeout;
 
    base::MatrixXd A;
 
    base::MatrixXd Aw;
};
 
 
using TaskPtr = std::shared_ptr<Task> ;
 
} // namespace wbc
 
#endif