BSplineTrajectoryTask.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tasks/SplineTrajectoryTask.h>
 
#include <mc_trajectory/BSpline.h>
 
namespace mc_tasks
{
 
struct MC_TASKS_DLLAPI BSplineTrajectoryTask : public SplineTrajectoryTask<BSplineTrajectoryTask>
{
  friend struct SplineTrajectoryTask<BSplineTrajectoryTask>;
  using SplineTrajectoryBase = SplineTrajectoryTask<BSplineTrajectoryTask>;
  using waypoints_t = mc_trajectory::BSpline::waypoints_t;
 
public:
  using SplineTrajectoryBase::target;
  BSplineTrajectoryTask(const mc_rbdyn::RobotFrame & frame,
                        double duration,
                        double stiffness,
                        double weight,
                        const sva::PTransformd & target,
                        const waypoints_t & posWp = {},
                        const std::vector<std::pair<double, Eigen::Matrix3d>> & oriWp = {});
 
  BSplineTrajectoryTask(const mc_rbdyn::Robots & robots,
                        unsigned int robotIndex,
                        const std::string & surfaceName,
                        double duration,
                        double stiffness,
                        double weight,
                        const sva::PTransformd & target,
                        const waypoints_t & posWp = {},
                        const std::vector<std::pair<double, Eigen::Matrix3d>> & oriWp = {});
 
  const mc_trajectory::BSpline & spline() const { return bspline; };
  mc_trajectory::BSpline & spline() { return bspline; };
 
  void addToGUI(mc_rtc::gui::StateBuilder & gui);
 
  void posWaypoints(const waypoints_t & posWp);
 
protected:
  void targetPos(const Eigen::Vector3d & target);
 
  const Eigen::Vector3d & targetPos() const;
 
protected:
  mc_trajectory::BSpline bspline;
};
 
} // namespace mc_tasks