VelocityScene.hpp

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#ifndef VELOCITYSCENE_HPP
#define VELOCITYSCENE_HPP
 
#include "../../core/Scene.hpp"
 
namespace wbc{

class VelocityScene : public Scene{
protected:
    static SceneRegistry<VelocityScene> reg;
 
    base::VectorXd q, qd, qdd;

    virtual TaskPtr createTask(const TaskConfig &config);
 
public:
    VelocityScene(RobotModelPtr robot_model, QPSolverPtr solver, const double dt);
    virtual ~VelocityScene(){
    }

    virtual const HierarchicalQP& update();

    virtual const base::commands::Joints& solve(const HierarchicalQP& hqp);

    virtual const TasksStatus &updateTasksStatus();
};
 
} // namespace wbc
 
#endif