DampingTask.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tasks/AdmittanceTask.h>
 
namespace mc_tasks
{
 
namespace force
{
 
struct MC_TASKS_DLLAPI DampingTask : AdmittanceTask
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  DampingTask(const mc_rbdyn::RobotFrame & frame, double stiffness = 5.0, double weight = 1000.0);
 
  DampingTask(const std::string & robotSurface,
              const mc_rbdyn::Robots & robots,
              unsigned robotIndex,
              double stiffness = 5.0,
              double weight = 1000.0);
 
protected:
  void update(mc_solver::QPSolver &) override;
};
 
} // namespace force
 
} // namespace mc_tasks