CoMTask.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tasks/TrajectoryTaskGeneric.h>
 
namespace mc_tasks
{
 
struct MC_TASKS_DLLAPI CoMTask : public TrajectoryTaskGeneric
{
public:
  CoMTask(const mc_rbdyn::Robots & robots, unsigned int robotIndex, double stiffness = 5.0, double weight = 100.);
 
  void reset() override;
 
  void move_com(const Eigen::Vector3d & com);
 
  void com(const Eigen::Vector3d & com);
 
  const Eigen::Vector3d & com() const;
 
  const Eigen::Vector3d & actual() const;
 
  void load(mc_solver::QPSolver &, const mc_rtc::Configuration & config) override;
 
protected:
  void addToGUI(mc_rtc::gui::StateBuilder &) override;
  void addToLogger(mc_rtc::Logger & logger) override;
 
private:
  unsigned int robot_index_;
};
 
} // namespace mc_tasks