velocity_scene.hpp

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#ifndef WBC_PY_VELOCITY_SCENE_HPP
#define WBC_PY_VELOCITY_SCENE_HPP
 
#include <wbc/scenes/velocity/VelocityScene.hpp>
#include "../../solvers/hls/HierarchicalLSSolver.hpp"
#include "../../robot_models/rbdl/robot_model_rbdl.hpp"
 
namespace wbc_py {
 
wbc::JointWeights toJointWeights(const base::NamedVector<double> &weights);
 
class VelocityScene : public wbc::VelocityScene{
public:
    VelocityScene(std::shared_ptr<RobotModelRBDL> robot_model, std::shared_ptr<HierarchicalLSSolver> solver, const double dt);
    void setJointReference(const std::string& task_name, const base::NamedVector<base::JointState>& ref);
    void setCartReference(const std::string& task_name, const base::samples::RigidBodyStateSE3& ref);
    void setJointWeights(const base::NamedVector<double> &weights);
    base::NamedVector<double> getJointWeights2();
    base::NamedVector<double> getActuatedJointWeights2();
    base::NamedVector<base::JointState> solve2(const wbc::HierarchicalQP &hqp);
    base::NamedVector<wbc::TaskStatus> updateTasksStatus2();
};
 
}
 
#endif