GazeTask.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 GazeTask : public TrajectoryTaskGeneric
{
public:
  GazeTask(const mc_rbdyn::RobotFrame & frame,
           double stiffness = 2.0,
           double weight = 500.0,
           const Eigen::Vector3d & error = Eigen::Vector3d::UnitZ());
 
  GazeTask(const std::string & bodyName,
           const Eigen::Vector2d & point2d,
           double depthEstimate,
           const sva::PTransformd & X_b_gaze,
           const mc_rbdyn::Robots & robots,
           unsigned int robotIndex,
           double stiffness = 2.0,
           double weight = 500);
 
  GazeTask(const std::string & bodyName,
           const Eigen::Vector3d & point3d,
           const sva::PTransformd & X_b_gaze,
           const mc_rbdyn::Robots & robots,
           unsigned int robotIndex,
           double stiffness = 2.0,
           double weight = 500);
 
  void reset() override;
 
  void error(const Eigen::Vector2d & point2d, const Eigen::Vector2d & point2d_ref = Eigen::Vector2d::Zero());
 
  void error(const Eigen::Vector3d & point3d, const Eigen::Vector2d & point2d_ref = Eigen::Vector2d::Zero());
};
 
} // namespace mc_tasks