LookAtFrameTask.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_tasks/LookAtTask.h>
 
namespace mc_tasks
{
 
struct MC_TASKS_DLLAPI LookAtFrameTask : public LookAtTask
{
public:
  LookAtFrameTask(const mc_rbdyn::RobotFrame & frame,
                  const Eigen::Vector3d & frameVector,
                  const mc_rbdyn::Frame & target,
                  double stiffness = 0.5,
                  double weight = 200.0);
 
  LookAtFrameTask(const mc_rbdyn::Robots & robots,
                  unsigned int robotIndex,
                  const std::string & bodyName,
                  const Eigen::Vector3d & bodyVector,
                  unsigned int surfaceRobotIndex,
                  const std::string & surfaceName,
                  double stiffness = 0.5,
                  double weight = 200);
 
  void update(mc_solver::QPSolver &) override;
 
  inline const sva::PTransformd & offset() const noexcept { return offset_; }
 
  inline void offset(const sva::PTransformd & off) noexcept { offset_ = off; }
 
  void load(mc_solver::QPSolver & solver, const mc_rtc::Configuration & config) override;
 
protected:
  mc_rbdyn::ConstFramePtr target_;
  sva::PTransformd offset_ = sva::PTransformd::Identity();
};
 
} // namespace mc_tasks