LookAtTask.h

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/*
 * Copyright 2015-2022 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
#include <mc_tasks/VectorOrientationTask.h>
 
namespace mc_tasks
{
 
struct MC_TASKS_DLLAPI LookAtTask : public VectorOrientationTask
{
  LookAtTask(const mc_rbdyn::RobotFrame & frame,
             const Eigen::Vector3d & frameVector,
             double stiffness = 2.0,
             double weight = 500.0);
 
  LookAtTask(const std::string & bodyName,
             const Eigen::Vector3d & bodyVector,
             const Eigen::Vector3d & targetPos,
             const mc_rbdyn::Robots & robots,
             unsigned int robotIndex,
             double stiffness = 2.0,
             double weight = 500);
 
  LookAtTask(const std::string & bodyName,
             const Eigen::Vector3d & bodyVector,
             const mc_rbdyn::Robots & robots,
             unsigned int robotIndex,
             double stiffness = 2.0,
             double weight = 500);
 
  void reset() override;
 
  void target(const Eigen::Vector3d & pos);
  Eigen::Vector3d target() const;
 
  void load(mc_solver::QPSolver & solver, const mc_rtc::Configuration & config) override;
 
private:
  void addToLogger(mc_rtc::Logger & logger) override;
  void addToGUI(mc_rtc::gui::StateBuilder & gui) override;
 
private:
  Eigen::Vector3d target_pos_;
};
 
} // namespace mc_tasks