FirstOrderImpedanceTask.h

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/*
 * Copyright 2015-2023 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tasks/ImpedanceTask.h>
 
namespace mc_tasks
{
 
namespace force
{
 
struct MC_TASKS_DLLAPI FirstOrderImpedanceTask : ImpedanceTask
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  FirstOrderImpedanceTask(const std::string & surfaceName,
                          const mc_rbdyn::Robots & robots,
                          unsigned robotIndex,
                          double stiffness = 5.0,
                          double weight = 1000.0);
 
  FirstOrderImpedanceTask(const mc_rbdyn::RobotFrame & Frame, double stiffness = 5.0, double weight = 1000.0);
 
  void update(mc_solver::QPSolver & solver) override;
};
 
} // namespace force
 
} // namespace mc_tasks